Design and Implementation of a Robust Adaptive Control Structure for Cooperative Teleoperation Systems with Dual Masters
In this research, an adaptive nonlinear structure for dual user teleoperation systems for the application of surgery training is presented. The proposed adaptive controller is designed to eliminate undesired effects of existing uncertainties in each robotic manipulator. This robust control structure is also investigated the effects of the dynamics of the users' hands and the environment, as one of the control loop components. In this control scheme a force feedback has been used to convey the proper sense of interaction between environment and the robot. In addition to that, an impedance reference model is designed to control force and position simultaneously. As it is necessary to measure forces to reach the desired impedance and considering the fact that installation of force sensors is challenging and expensive, especially in the slave, a high-gain observer is utilized in order to estimate the velocities and the forces. The general stability analysis of the system has been proved by means of the input-to-state stability concept and the small gain theorem. Finally, by considering several different scenarios and implementing the control structure on two haptic devices and a virtual surgeon robot, the performance and the efficiency of the system has been evaluated.