Theoretical and experimental evaluation of a 2-Channel bilateral Force Reflection teleoperation system

摘要

This paper presents the theoretical and experimental
\nevaluation of a 2-Channel bilateral Force Reflection
\nteleoperation system.
\nThe teleoperation system is a master-slave bilateral system
\nbased on two parallel kinematics robots with three degree of
\nfreedom, which has been devised for the validation of robotics
\nassisted surgery procedures. Both master and slave systems
\npresent an isomorphic kinematics which allow only translational
\nmotion of the end-effector.
\nThe aim of the present work is to evaluate two different
\nimplementations of a Force Reflection control architectures: a
\nPosition Error Based Force Reflection Control and a Direct
\nForce Reflection Control. The two architectures are compared
\nin terms of performance, i.e. stability and transparency, on the
\nbasis of both simulations and experimental data. Some novel
\ntheoretical results are presented, which permit a direct evaluation
\nof performance for both the two architectures.