Sliding mode control for scaled bilateral teleoperation

摘要

The paper deals with the problem of a master-slave teleoperation robotic system as could be used for robotic surgery in the near future. In such applications, advanced task performance will require not only visual but also a haptic feedback that is more intuitive. The paper proposes a novel control scheme, which is designed based on modal decomposition that enables independent force and position control. The control algorithm is derived following the sliding mode control approach which guarantees robustness to model perturbation, parameters uncertainty and system disturbance. Thus, the proposed bilateral control scheme can provide high performance haptic based scaled teleoperation. It was experimentally validated on a simple master-slave teleoperator with 1DOF robotic systems.