ARAS laboratory Alumnus and Automation Engineer in Control Pooyan Co. (

My researches could be counted as the first steps of getting into eye telesurgery in the ARAS. During these researches, I found out that interacting with soft tissues is the integral part in the eye telesurgery, although the accuracy of position tracking between master and slave have to be considered as well. Therefore, I decided to organize my thesis so that it can increase transparency in such eye surgeries. I have employed impedance control either master or slave robot in order to deal with this problem. In this structure, the parameters of the controllers have been determined by optimizing a problem whose cost function is fidelity criteria. To achieve robust stability of closed loop control, small gain constraints have been applied on the optimization problem. Additionally, the stability of closed loop in the presence of variable delay in communication channel has been guaranteed by input to state stability.
Finally, this structure has been evaluated by implementing it on the haptic Omni as master and a developed virtual reality SMOS robot as slave robot in the ARAS. The SMOS robot has been developed in C++ programming language. It used Ogre and Bullet libraries to form its graphic. The inspiration of this robot was our researches on eye robot surgeries which introduce the SMOS as the first robot has been utilized for this purpose. Different scenarios such as free and constrained motion with constant and variable delay have been designed to show the excellent performance of this structure.