Abstract
Minimally invasive surgery systems typically involve thin and cable-driven surgical instruments. This introduces link and joint flexibility in the slave robot of a master—slave teleoperation system, reducing the effective stiffness of the slave and the transparency of teleoperation. In this paper, we analyze transparency under slave link and joint flexibility (tool flexibility). We also evaluate the added benefits of using extra sensors at the tip of the flexible robot. It is shown that tip velocity (or position) feedback improves free-space position tracking performance in the presence of robot flexibility. Also, when the interaction forces with an environment are measured by a force sensor and fed back to the user’s hand, tip velocity feedback improves hard-contact force tracking performance. During a hard contact task, tip velocity feedback can also eliminate the transmission of robot flexibility to the user’s hand.
Highlights
In applications such as space and surgical robotics, it is advantageous to use thin and lightweight manipulators and cable-driven end-effectors
In addition to link flexibility, joint flexibility is often present in surgical robots
For hard-contact force tracking (1/f12, fifth row), perfect force tracking can be attained in Position error based (PEB) teleoperation with feedback of vs. In Direct force reflection (DFR) teleoperation, perfect force tracking is possible with feedback of ve and/or feedback of vs provided that (35) is used for generating the desired trajectory of vs. Otherwise, force tracking is satisfactory only in low frequencies
Summary
In applications such as space and surgical robotics, it is advantageous to use thin and lightweight manipulators and cable-driven end-effectors. For quantifying a margin of stability, increasing amounts of delay were injected between the master and the slave until the teleoperation system approached the verge of instability They concluded that the two performance metrics deteriorate in the presence of flexibility but this performance loss can be partly compensated for by incorporating deflection information in the control laws, and that the stability margin increases if the slave stiffness decreases. We systematically analyze performance and stability limitations under link or joint flexibility (tool flexibility) in the slave robot of a master-slave teleoperation system, and examine what added benefits tip sensors can deliver. This general analytical treatment considers the following four measures of performance: Free-motion transmitted impedance, free-motion position tracking, hard-contact force tracking metric, and hard-contact transmitted impedance. We conduct an analysis of absolute stability (stability under all passive but otherwise arbitrary human operators and remote environments) for the possible combinations of teleoperation methods and sensor configurations
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