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Related Experiment Videos

High performance bilateral telerobot control.

Robert Kline-Schoder1, William Finger, Neville Hogan

  • 1Creare Incorporated, Hanover, NH 03755, USA.

Studies in Health Technology and Informatics
|October 2, 2004
PubMed
Summary
This summary is machine-generated.

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Creare

Area of Science:

  • Robotics
  • Control Systems
  • Human-Computer Interaction

Background:

  • Telerobotic systems enable remote manipulation in inaccessible environments (space, hazardous sites, microscopy).
  • Operator capabilities can be extended through motion and force scaling.
  • High-performance force-feedback telerobots require guaranteed stability, especially with time delays.

Purpose of the Study:

  • To present the Creare control algorithm and software as an enabling technology for stable, high-performance force-feedback telerobots.
  • To detail the theory, structure, and software design for implementing telerobot systems with time delay.
  • To address controllers for master/slave manipulators, servo levels, communication links, and impedance shaping.

Main Methods:

  • Development of a comprehensive control theory and software architecture for telerobotic systems.

Related Experiment Videos

  • Implementation of controllers for individual system components, including manipulators and communication links.
  • Integration of impedance shaping modules to manage system dynamics.

    • Main Results:

    • Demonstrated guaranteed stability and high performance for force-feedback telerobots.
    • Successfully implemented high-performance telerobot systems capable of handling time delays.
    • Validated performance through both benchtop hardware and a commercial microsurgery system.

    Conclusions:

    • The Creare control algorithm and software provide a robust solution for advanced telerobotic applications.
    • The developed methods effectively manage time delays, ensuring stability and performance.
    • The technology is applicable to diverse fields requiring precise remote manipulation.