Cascade Control for Telerobotic Systems Serving Space Medicine

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.