A study on generalized predictive controller for tele-manipulation robot system with soft tissue environment

Tele-manipulation robot system refers to a remote operating system which is undergoing complex and delicate manipulations in the inaccessible environment under the control of human. Nonlinear soft tissue environment of a tele-manipulation robot system usually causes instability and bad performance of the system. In order to eliminate the effect of that, this paper designs a novel algorithm of predictive controller scheme that the scaled proportional control is used for the master manipulator and the generalized predictive control for the slave. The simulation curves show that the algorithm is efficient and robust and the system can attain better scaled tracking of position and force with nonlinear soft tissue environment.