Analysis on performance of bilateral robot system using wireless communication

摘要

Wireless robotic manipulation promises applications in medical fields, allowing for surgeries to take place when the patient and surgeon are in distant places. Remote wireless robotic manipulation systems can possibly offer high dexterity and sensation capabilities, while allowing millimeter-scale control by the surgeon. Past research focus on robotic manipulation using a wired bilateral system, most of which assumes an error-free and zero-delay environment. This paper addresses the effect of implementing adaptive carrier selection (ACS) and Kalman filter in simulated wireless bilateral system.