Cerebellar Model Articulation Controllers for Bilateral Teleoperation with Elastic-Joint Manipulators and Haptic Feedback
Abstract
Telesurgical systems that incorporate haptic feedback at the master with a light, compliant slave may provide a superior surgical experience for both patient and health care team. This thesis presents a first investigation of the use of Cerebellar Model Articulation Controllers in just such an application, where the adaptive neural network is used to overcome unknown, nonlinear system dynamics, interaction with unstructured environments, and non-passive operator behaviour in real-time. The controller's output is shown to be Ultimately Uniformly Bounded via the Lyapunov approach, and its stability is verified experimentally. It performs as well as a PID controller during direct real-time bilateral teleoperation and is more robust to rate changes during hard contacts. An auxiliary error that provides torque tracking during interaction and velocity tracking during motion through free space without the need for switching or gain scheduling is evaluated, and key considerations for the implementation of custom controllers with Quanser's 2 DOF Serial Flexible-Joint Robot are discussed.
Description
Keywords
Engineering--Electronics and Electrical, Engineering--Mechanical, Robotics
Citation
L'Orsa, R. (2016). Cerebellar Model Articulation Controllers for Bilateral Teleoperation with Elastic-Joint Manipulators and Haptic Feedback (Master's thesis, University of Calgary, Calgary, Canada). Retrieved from https://prism.ucalgary.ca. doi:10.11575/PRISM/25242