Function based control for bilateral systems in tele-micromanipulation
Elitaş, Meltem and Khan, Shahzad and Nergiz, Ahmet Özcan and Şabanoviç, Asif (2008) Function based control for bilateral systems in tele-micromanipulation. In: IEEE The 10th International Workshop on Advanced Motion Control, Trento - Italy
Design of a motion control system should take into account (a) unconstrained motion performed without interaction with environment or any other system, and (b) constrained motion with system in contact with environment or other systems. Control in both cases can be formulated in terms of maintaining desired system configuration what makes essentially the same structure for common tasks: trajectory tracking, interaction force control, compliance control etc. The same design approach can be used to formulate control in bilateral systems aimed to maintain desired functional relations between human and environment through master and slave motion systems. Implementation of the methodology is currently being pursued with a custom built Tele-micromanipulation setup and preliminary results concerning force/position tracking and transparency between master and slave are clearly demonstrated.
Repository Staff Only: item control page