Control challenges in non-minimum phase tele-robotics systems

摘要

In this paper, challenges caused by non-minimum phase slave robots in telerobotics systems in investigated for the first time. Non minimum phase (NMP)tele-manipulation creates many challenges which have not been investigated so far. Flexible-link slaves are common examples of NMP manipulators. In tele-surgical robotics, flexibility and non-minimum phase behaviors are caused by structural miniaturization which is vital in Minimally Invasive Surgeries (MIS). In this article, a through analysis on the impacts of non-minimum phase behavior on ideal telerobotics is given, and then a new control architecture called the Pseudo Three-Channel is proposed and the stability is mathematically analyzed. Furthermore, a case study upon the issue of human in the loop and delayed vision feedback is given.