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Bilateral Control
2
Contents
Bilateral Control
Requirements
Problems
Velocity Measurement
Force Measurement
Acceleration Control
Bilateral Control Scheme
Experimental Results
3
Bilateral Control
Bilateral Control Operating at a distant environment without actually being there.
Two robots named master & slave
MASTER SLAVE
OPERATOR ENVIRONMENT
mxhumm
humD
humKmf
mm
mD sD
sx sm envm
sf envK
envD
4
Bilateral Control - Requirements
Bilateral Control
Telepresence Vivid tactile sensation
Transparency
Stability
MASTER SLAVE
OPERATOR ENVIRONMENT
mxhumm
humD
humKmf
mm
mD sD
sx sm envm
sf envK
envD
First mechanical bilateral controller by goertz A bilateral control system currently in the market (hmw.com) da Vinci minimal invasive surgical robot from intuitivesurgical.com
5
Bilateral Control - Problems
MASTER SLAVE
OPERATOR ENVIRONMENT
mxhumm
humD
humKmf
mm
mD sD
sx sm envm
sf envK
envD
6
Measurement – Quadrature Encoder
7
Measurement - Force
END
EFFECTOR
FORCE
SENSOR
ROBOT
ARM
d es
)(sCF)(aCF)(eCF
ROBOT
ARM
)(tx
)(tf
sk
sc
END
EFFECTORFORCE
SENSOR
Strain Gauge Force Measurement Instability due to flexible dynamic structure
Narrow measurement bandwidth
8
Velocity Measurement
Force Measurement
Robust Control
Control Architecture
9
Velocity Measurement
10
Velocity Measurement – S Method
1 1.2 1.4 1.6 1.8 2 2.2 2.4
0
5
10
15
20
25
time (sec)
Velo
city (
rad)
M Method
S Method
11
Velocity Measurement – S Method
1.9 2 2.1 2.2 2.3 2.4 2.5 2.6 2.7 2.8
30
31
32
33
34
35
36
37
38
time (sec)
Velo
city (
rad)
M Method
S Method
12
Velocity Measurement – S Method
3.6 3.7 3.8 3.9 4 4.1 4.2
-2.5
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
2.5
time (sec)
Velo
city (
rad)
M Method
S Method
13
Velocity Measurement – S Method
2.464 2.466 2.468 2.47 2.472 2.474 2.476 2.478 2.48 2.482 2.4840.24
0.26
0.28
0.3
0.32
0.34
0.36
0.38
0.4
0.42
time (sec)
Velo
city (
rad)
M Method (filtered)
S Method (filtered)
14
Disturbance Observer
tK1
J
1
s
1
s
1
Current
Controller
tKri
dis t
nJ stnK
dis t
15
Disturbance Observer
tK1
J
1
s
1
s
1
Current
Controller
tKri
tnK
dis t
nJ s
g
s g
dist
dist
ngJ
g
s g
ngJ
16
Disturbance Observer
tK1
J
1
s
1
s
1
Current
Controller
tKri
tnK
dis t
dist
ngJ
g
s g
ngJ
1
tnK
sin( )A Bt
- Experiments
0
0.5
1
1
nJ s
dist
tK 1
s
ref
ai
s
s g
17
Disturbance Observer - Experiments dist
tK1
J
1
s
1
s
1
Current
Controller
tKri
tnK
dist
ngJ
g
s g
ngJ
1
tnK
sin( )A Bt
dist
dist
tKtK1
J
1
J
1
s
1
s
1
s
1
s
11
Current
Controller
tKtKri
tnKtnK
dist
ngJngJ
g
s g
g
s g
ngJngJ
1
tnK
1
tnK
sin( )A Btsin( )A Bt
0 1 0.5
1,10 referencemA
18
tK1
J
1
s
1
s
1
Current
Controller
tKri
tnK
dist
ngJ
g
s g
ngJ
int
ref
t
dF B J K i
dt
t
Reaction Torque Observer
reactiont
int
ref
dis ext t
dF B J K i
dt
t t t
19
Reaction Torque Observer - identification
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
0
0.1
0.2
0.3
Friction varying with absolute position
Time (sec)
Dis
turb
ance (
Am
p)
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 50
2
4
6
Time (sec)
Positio
n (
rad)
Absolute Shaft Position
Disturbance
0.1*sin(pos+1)+0.15
20
Ideal Response is defined as
Same position response
Equal force response
Bilateral Control Architecture
TF=1
m s
m st t
p m s
F m s t t
, 0P F
(1)
(2)
(3)
21
Bilateral Control Architecture
dis
m m m m
dis ext
s s s s s
J
J
t t
t t t
1
1
disdismn m m m
dis
dis extdissn s s s s
dis
gJ
s g
gJ
s g
t t
t t t
(4)
(5)
(6)
mn m m
ext
sn s s s s
J
J
t
t t t
(With disturbance rejection)
22
Bilateral Control Architecture
m s
m s
(7)
(8)
(9)
2
2
m s
m s
m
m
t t t
t t t
t t t
t tt
(if Jm=Js) by ading and subtracting eqn. in 6
(Define new variables)
any controller can be used to make , zero.
control inputs , can be distributed as
t t
2
2
m s
m s
s
s
t t t
t t t
t t t
t tt
m s m s
m s m s
t t t
t t t
23
Bilateral Control Architecture
(7)
(8)
(9)
cmd
mt
cmd
m
res
m
disgs
s
2
1
sJ mn
cc KsD 2
res
s
res
m
dis
mt
hZ
cmd
s
cmd
m tt
res
m
cmd
st
cmd
s
res
scc KsD
2
res
s
res
m
disgs
s
dis
st
hZ
ob
ob
gs
g
res
s
ob
ob
gs
g
2
1 cmd
s
cmd
m
ref
s
ref
m
cM
1
PC
PC
cM
1
mnJ
snJ 2
1
sJ sn
24
What if Jm≠ Js
1 1
m sm s
mn sn
m s
mn sn
J J
J J
t t
t t
(10)
22
22
m s
mn sn
m s
mn sn
mm mn
mn
ss sn
sn
J J
J J
JJ
JJ
t t
t t
t t
t t
any controller can be used to make , zero.
control inputs , can be distributed as
(8) rewritten with different inertias.
(11)
25
Bilateral Control- Experimental Results
Maxon EC-40
400 watts
BLDC motor
Maxon EC-40
400 watts
BLDC motor
MASTER SLAVE
10000 ppr
Encoder
Maxon Des 70/10
Current Regulator
10000 ppr
Encoder
Object
dSPACE 1103 Real-time
Controller
Quadrature
Encoder
Interface
Po
we
rPC
40
0 M
HZ
pro
ce
sso
r ru
nn
ing
at 1
& 1
0 k
Hz r
ate
s
DAC output
Slave’s
Encoder
Master’s
Encoder
Analog current reference
Maxon Des 70/10
Current Regulator
26
Free Motion
(a) position response of master and slave sides
(b) External forces measured by Force observer
(c) Position error between master and slave sides
27
Soft Environment (sponge)
(a) position response of master and slave sides (b) External forces measured by Force observer
(c) Position error between master and slave sides (d) Sum of torques at master and slave sides
28
Hard Environment (Metal plate)
(a) position response of master and slave sides (b) External forces measured by Force observer
(d) Sum of torques at master and slave sides (c) Position error between master and slave sides
29
Soft & Hard Environments
(a) position response of master and slave sides (b) External forces measured by Force observer
(d) Sum of torques at master and slave sides (c) Position error between master and slave sides
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