Cascade control for telerobotic systems serving space medicine

Tamás Haidegger, L. Kovács, Radu Emil Precup, Stefan Preitl, Balázs Benyó, Z. Benyó

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

3 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 publicationIFAC Proceedings Volumes (IFAC-PapersOnline)
Pages3759-3764
Number of pages6
Volume18
EditionPART 1
DOIs
Publication statusPublished - 2011
Event18th IFAC World Congress - Milano, Italy
Duration: Aug 28 2011Sep 2 2011

Other

Other18th IFAC World Congress
CountryItaly
CityMilano
Period8/28/119/2/11

Fingerprint

Medicine
Remote control
Electric current control
Robots
Communication

Keywords

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

ASJC Scopus subject areas

  • Control and Systems Engineering

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 IFAC Proceedings Volumes (IFAC-PapersOnline) (PART 1 ed., Vol. 18, pp. 3759-3764) https://doi.org/10.3182/20110828-6-IT-1002.02482

Cascade control for telerobotic systems serving space medicine. / Haidegger, Tamás; Kovács, L.; Precup, Radu Emil; Preitl, Stefan; Benyó, Balázs; Benyó, Z.

IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 18 PART 1. ed. 2011. p. 3759-3764.

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

Haidegger, T, Kovács, L, Precup, RE, Preitl, S, Benyó, B & Benyó, Z 2011, Cascade control for telerobotic systems serving space medicine. in IFAC Proceedings Volumes (IFAC-PapersOnline). PART 1 edn, vol. 18, pp. 3759-3764, 18th IFAC World Congress, Milano, Italy, 8/28/11. https://doi.org/10.3182/20110828-6-IT-1002.02482
Haidegger T, Kovács L, Precup RE, Preitl S, Benyó B, Benyó Z. Cascade control for telerobotic systems serving space medicine. In IFAC Proceedings Volumes (IFAC-PapersOnline). PART 1 ed. Vol. 18. 2011. p. 3759-3764 https://doi.org/10.3182/20110828-6-IT-1002.02482
Haidegger, Tamás ; Kovács, L. ; Precup, Radu Emil ; Preitl, Stefan ; Benyó, Balázs ; Benyó, Z. / Cascade control for telerobotic systems serving space medicine. IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 18 PART 1. ed. 2011. pp. 3759-3764
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