Title :
Force feedback teleoperation with periodical disturbance compensation
Author :
Joinié-Maurin, M. ; Bayle, B. ; Gangloff, J.
Author_Institution :
LSIIT, Illkirch, France
Abstract :
In this paper a bilateral teleoperation scheme is proposed to compensate force perturbations due to repetitive motions of the environment. Based on a Repetitive-Generalized Predictive Controller (R-GPC), it allows to reject periodical disturbances as those generated by respiration motion under breathing apparatus while in contact with the environment. The proposed method is detailed and experimental results are presented for the first time, using a 1-DOF teleoperation testbed.
Keywords :
force control; force feedback; medical robotics; motion control; periodic control; pneumodynamics; predictive control; surgery; telerobotics; 1-DOF teleoperation testbed; bilateral teleoperation scheme; breathing apparatus; force feedback teleoperation; force perturbation compensation; periodical disturbance compensation; repetitive generalized predictive controller; repetitive motion; respiration motion; Force; Force feedback; Force measurement; Mathematical model; Polynomials; Robots;
Conference_Titel :
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-61284-386-5
DOI :
10.1109/ICRA.2011.5980496
