Cascade control for telerobotic systems serving space medicine

Tamás Haidegger, Levente Kovács, Radu Emil Precup, Stefan Preitl, Balázs Benyó, Zoltán Benyó

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

Long distance teleoperation formulates a current control problem task yet to be solved, primarily due to the difficulty to compensate for signal latency. Predictive and modelbased control can only give satisfying results if proper description of the system's behavior is provided. The interdisciplinary field of telesurgery has become a focal point of technologyextended medicine, where master-slave type control over large distances poses significant challenges. Innovative solutions are required to deal with the modeling human teleoperation and varying communication quality parameters. In this paper, we investigate the feasibility a more straight-forward, classical control solution based on Kessler's Extended Symmetrical Method, formulated in a cascade control approach to tackle the problems caused by latency and uncertainties in a modeled telesurgical robot system.

Original languageEnglish
Title of host publicationProceedings of the 18th IFAC World Congress
PublisherIFAC Secretariat
Pages3759-3764
Number of pages6
Edition1 PART 1
ISBN (Print)9783902661937
DOIs
Publication statusPublished - Jan 1 2011

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1 PART 1
Volume44
ISSN (Print)1474-6670

Keywords

  • Cascade control
  • Surgical robotics
  • Teleoperation
  • Time-delay control

ASJC Scopus subject areas

  • Control and Systems Engineering

Fingerprint Dive into the research topics of 'Cascade control for telerobotic systems serving space medicine'. Together they form a unique fingerprint.

  • Cite this

    Haidegger, T., Kovács, L., Precup, R. E., Preitl, S., Benyó, B., & Benyó, Z. (2011). Cascade control for telerobotic systems serving space medicine. In Proceedings of the 18th IFAC World Congress (1 PART 1 ed., pp. 3759-3764). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 44, No. 1 PART 1). IFAC Secretariat. https://doi.org/10.3182/20110828-6-IT-1002.02482