Benidorm Telemanip Part 1 (1)

8/13/2019 Benidorm Telemanip Part 1 (1)

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Claudio Melchiorri

DEIS – University of Bologna

e-mail: [email protected]

http://www-lar.deis.unibo.it/~cmc

RoboticRobotic TelemanipulationTelemanipulation:: An An IntroductionIntroduction

EURON Winter School on Telesurgery Benidorm, Spain, 26 – 31 March 2006



Benidorm – March 2006

2TeleroboticsTelerobotics

”Every day the urge grows stronger to gethold of an object at very close range byway of its likeness, its reproduction”

Walter Benjamin, 1936




4TeleroboticsTelerobotics – – 1993:1993: RotexRotex




5TeleroboticsTelerobotics – – 1997: Mars Pathfinder1997: Mars Pathfinder




7TeleroboticsTelerobotics – – 2005:2005: RockvissRockviss




8TeleroboticsTelerobotics – – 2006: Mars Rovers2006: Mars Rovers

NASA-JPL Rovers SPIRIT e OPPORTUNITY

Launched: January 2004

STILL WORKING ! ! !

http://marsrovers.jpl.nasa.gov/




10TeleroboticsTelerobotics: a: a brief brief historyhistory

Innate desire/need of the human being to: know

communicate

interact from a remote distance.

A large number of examples of thisdesire/need exists, more or less recent.

The earliest type of teleoperation?

What is the difference between using

a tool and teleoperation (remote

manipulation)?





Development of different “TELE-technologies'':

TELE- phony : capability of talking from distance1849, 1871 Antonio Meucci;1876, Bell, Gray;

These technologies provide knowledge at a distance

TELE-vision : capability of seeing from distance1900 the word “television” is first used;1928 first commercial mechanical TV;1941 first commercial electronic B&W TV;





Development of different “TELE-technologies'':

Information interactionlimited amount of energy exchange

Energetic interactionmechanical energy

is actually exchanged

Paynter, “Generalized System Theory”, 1961




17TeleroboticsTelerobotics: a brief history: a brief history

1954: electro-mechanical master-slave teleoperator developedby Goertz at Argonne National Lab.;





late 50s: Interest inapplying this new technologyto human limb prostheses.Kobrinskii (Moscow) in 1960

developed a lower-armprosthesis driven bymyoelectric signal from theupper arm;

60s: Rapid developments inthe medical field, withteleoperators installed on thewheelchairs of quadriplegicsand commanded by thetongue;





60s: Telepresence, force reflection, two-arm teleoperators.touch sensing and display, a significant example is the Mosher'sHandyman, developed at General Electric Co.;





1965: first experiments with relevant time-delays (race to theMoon); instability problems were firstly noticed in forcereflection.





80s: extensive use of ROVs (Remotely Operated Vehicles) inoffshore operations for oil/gas industry

At the moment, underwater telerobotics is mainly used forbusiness, military missions, and scientific explorations.




23TeleroboticsTelerobotics: a brief history: a brief historySome recent important tele-robotics examples:

April ’93: the space robot ROTEX was flown onspace-shuttle COLUMBIA (STS 55). A multisensoryrobot on board the spacecraft successfully workedin several modes teleoperated by astronauts, as

well as in different telerobotic ground controlmodes.

July ’97: the rover Sojourner landed on Mars inthe Ares Vallis. From landing until the final datatransmission on September 27, 1997, MarsPathfinder returned 2.3 billion bits of information(more than 20,000 images, more than 15 chemicalanalyses, and extensive data on winds and otherweather factors).

Sept. ’98: first robotic cardio-surgical operation(Prof. Boyd).

June ’01: the first trans-oceanic telesurgeryoperation (New York, USA – Strasbourg, F) (Prof.Marescaux)





Telemanipulators, in the broader senseof the terminology, have beendeveloped since early 50s for use ina number of different areas.

At the moment, this technology isapplied in a number of different

fields: space,

underwater,

medicine,

hazardous environments,

production,

security,

simulators,

…




26TeleroboticsTelerobotics:: Canadian Remote Manipulator SystemCanadian Remote Manipulator System -- RMSRMS

The arm installed on the US space-shuttle, the Canadian Remote ManipulatorSystem (RMS), is probably the most known example of space telemanipulator:

built by MD Robotics (Canada)

6 dof arm

11 meter long flexible structure

able of executing pre-programmed and/or teleoperated tasks

resolved rate control




27TeleroboticsTelerobotics:: RotexRotex ROTEX: robotic arm for intra-vehicular activities developed by DLR, Germany. It was

successfully used in the mission of the shuttle COLUMBIA in 1993, performing three tasks: assembly of a grid, connection/disconnection of an electrical plug, grasp of a flying object.

Main features: 6 dof, light structure advanced materials complex sensorial system:

two 6-axis force/torque sensors tactile arrays an array of 9 laser rang-finders a pair of tiny video-cameras for a stereo image of the grasping area

sophisticated MMI with 3D stereo computer graphics, voice input/output, stereo imaging predictive control the master system is the “DLR control-ball” (6-axis force sensor)




29TeleroboticsTelerobotics:: Space ServicingSpace Servicing

SPIDER arm

Dextrous grippers

Robonaut




30TeleroboticsTelerobotics:: Space ServicingSpace Servicing

RobonautNASA - JPL




31TeleroboticsTelerobotics:: RockvissRockviss Rockviss is a DLR proposal (ESA) and

has been developed for EVA activitieson ISS




32TeleroboticsTelerobotics:: Space RoversSpace Rovers A successful space telerobotic program has been the Mars Viking Program, which performed scientific

experiments on the Martian surface.

The NASA rover Sojourner (mission Pathfinder, 1997) is probably the most known example of space rovers.

Current technology would allow further substantial developments, which are slowed down by the largeamount of money and time required to guarantee a successful mission.

For these reasons the research are in general jointly developed by national space agencies, industries and

research laboratories.

Relevant technical problems still exist due to: reliability requirements, weight constraints, hostile environments communication time-delays (from 1 second in earth orbits to 4-40 minutes for planetary missions).




33TeleroboticsTelerobotics:: Space RoversSpace Rovers

Rovers SPIRIT e OPPORTUNITY Mars, January 2004

http://marsrovers.jpl.nasa.gov/




34TeleroboticsTelerobotics: Medical applications: Medical applications

Main applications of robotic manipulators in the medical field:

help to impaired people,

surgery operations,

diagnose illnesses or injuries,

training of specialized personnel.





Robotic systems of differentcomplexities have been

developed since the 50's forhelping impaired people.

Among the most commonsystems are automatedwheelchairs, controlled by voice

or by joysticks for hands, mouth,eye or head movements.

l b d l l




36TeleroboticsTelerobotics: Medical applications: Medical applications At the moment, there is a relevant interest in

applying teleoperated devices in microsurgeryoperations, e.g. eye surgery, where small precisemovements are needed.

The movements of the operator are scaled downby the mechanism so that very fine operations can

be performed while maintaining a suitabletelepresence effect.

Another important class of surgical processconsists of the so called “minimally invasive” procedures.

In this case, the surgeon operates through smallinsertions using thin medical instruments and smallvideo cameras.

The increased difficulties for the surgeon arepartially compensated by computers, which areused to create virtual environments where the useof telepresence plays a fundamental role.

l b iT l b ti di l li iM di l li ti





Intuitive Surgicalhttp://www.intuitivesurgical.com/

T l b tiT l b ti M di l li tiM di l li ti




38TeleroboticsTelerobotics: Medical applications: Medical applications Telediagnosis may also broaden the range of a single doctor by allowing to examine a

patient visually or viewing records on a computer interface.

Telemanipulation may be used in surgery operations for: remote surgery (militar, ...) improving performances for operation presenting spatial problems for a surgeon (better

and less destructive results) improving reach, manipulation, sight and insight on the patient body



T l b tiTelerobotics S d fi itiSome definitions




40TeleroboticsTelerobotics – – Some definitionsSome definitions

Teleoperation: extension of a person’s sensing and manipulatingcapability to a location remote from him (includes a minimum ofartificial sensors, actuators, communication channel to/fromoperator).

Telepresence: operator feels to be physically present at remote site.Dexterity of remote device matches that of the bare-hand humanoperator.

Telerobotics: a form of teleoperation in which an operator acts as asupervisor, interacting with a computer (in both ways).

ControlControl ProblemsProblems




41ControlControl ProblemsProblems

In current terminology, a telemanipulator is a complex electro-mechanical system

usually encompassing:

A master (or local) device

A slave (or remote) device

A communication channel, interconnecting the master and the slave

The overall system is interfaced on one side (the master) with a human operator, andon the other (the slave) with the environment.

At both sides, energy exchange takes place.





An unstructured environment;with unknown physical properties (friction, mass, impedance, disturbances…)






Two distinct and (possibly) different robotic systems:different kinematics, dimensions, work space, impedance characteristics, dynamicproperties, …;

ControlControl ProblemsProblems -- GoalsGoals




46

10-2

10-1

100

101

102

0

1

2

3

4

5

6

7

8

9

10

Kc

1 / T

m a x ( 1

/ s )

STABILITY

10-1

100

101

102

0

0.01

0.02

0.03

0.04

0.05

0.06

0.07

0.08

0.09

0.1

Kc

D r i f t ( m

)

DRIFT

0 2 4 6 8 10-100

-50

0

50

100

f s

0 2 4 6 8 10-0.5

0

0.5

tim e (s)

f s

ControlControl ProblemsProblems GoalsGoals

Possible goals of the overall control systems:

Stability

Performance

Aspects often in conflict!



48ControlControl ProblemsProblems -- GoalsGoals




48ControlControl ProblemsProblems GoalsGoals

Possible goals of the overall control systems:

Stability

Performance

Telepresence

Telefunctioning: Power scaling

Impedance scaling

Impedance shaping



50Control Problems: GoalsControl Problems: Goals




50Control Problems: GoalsCo t o ob e s Goa s

Three independent relationships can be assigned between the four variables:

In general, there are four relations

between velocities/forces, but only

three can be independently assigned.

Telepresence can be considered a subclass

of telefunctioning: λv = λf = 1.

Telepresence realizes a dynamic similarity

between master/slave variables.

51ControlControl SchemesSchemes




51

These features have generated a more than relevant quantity of controlschemes: one could observe that, in principle, any control methodology(passivity, variable-structure, small-gain, adaptive, H

∞, …) has been applied

to this challenging field.

On the other hand, although the research in this field is very rich, there is not

a standard solution or approach, neither it is clear what could be considered “the best” control scheme.

It could be argued that it is not even clear the definition of a performancecriterion by means of which different control schemes can be compared.

52ControlControl SchemesSchemes – – General RemarksGeneral Remarks




52

Several control schemes for telemanipulators have been developed. Among the most known, one can mention:

Unilateral rate control:

direct resolved

Unilateral position control:

direct resolved

Master Slave

Master SlaveComputer

Direct

Resolved





Bilateral rate control:

direct

resolved

Operator aiding control:

Filtering

Scaling

Referencing

Motion constraints or compensation

Simulation

Master Slave

Master SlaveComputer

Direct

Resolved





Operator

Task

displaycontrols

Master’s computer

Slave’s computer

actuators sensors

DirectTeleoperation

T

Operator

Task

displaycontrols

Master’s computer

Slave’s computer

actuators sensors

CoordinatedTeleoperation

T

Operator

Task

displaycontrols

Master’s computer

Slave’s computer

actuators sensors

Supervisorycontrol

T BilateralControlSchemes



57ControlControl SchemesSchemes – – General remarksGeneral remarks




Transmission of power variables

Transmission of scattering variablesR.J. Anderson, M. Spong, IEEE TRA, 1989G. Niemeyer, J.E. Slotine, J. Oceanic. Eng., 1991

58ControlControl SchemesSchemes – – General remarksGeneral remarks




0 1 2 3 4 5−0.01

0

0.01

(c) fmd−fs [N*m]

0 1 2 3 4 5−0.01

0

0.01(d) tm−ts [N*m]

Time [s]

0 1 2 3 4 5−4

−2

0

2

(a) forcem/s [N]

0 1 2 3 4 50

0.5

1(b) xm−xs [rad]

Time [s]

0 5 10 15 20−2

0

2

4x 10

−3 (c) fmd−fs [N*m]

0 5 10 15 20−5

0

5x 10

−3 (d) tm−ts [N*m]

Time [s]

0 5 10 15 20−20

−10

0

10(a) forcem/s [N]

0 5 10 15 200

0.2

(b) xm−xs−xsd [rad]

Time [s]

Transmission of power variables

Transmission of scattering variablesR.J. Anderson, M. Spong, IEEE TRA, 1989G. Niemeyer, J.E. Slotine, J. Oceanic. Eng., 1991



Claudio Melchiorri

DEIS – University of Bolognae-mail: [email protected]

http://www-lar.deis.unibo.it/~cmc

RoboticRobotic TelemanipulationTelemanipulation:: An An IntroductionIntroduction

EURON Winter School on Telesurgery Benidorm, Spain, 26 – 31 March 2006

Benidorm Telemanip Part 1 (1)

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