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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
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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
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4TeleroboticsTelerobotics – – 1993:1993: RotexRotex
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5TeleroboticsTelerobotics – – 1997: Mars Pathfinder1997: Mars Pathfinder
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7TeleroboticsTelerobotics – – 2005:2005: RockvissRockviss
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8TeleroboticsTelerobotics – – 2006: Mars Rovers2006: Mars Rovers
NASA-JPL Rovers SPIRIT e OPPORTUNITY
Launched: January 2004
STILL WORKING ! ! !
http://marsrovers.jpl.nasa.gov/
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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)?
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12TeleroboticsTelerobotics: a: a brief brief historyhistory
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;
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14TeleroboticsTelerobotics: a: a brief brief historyhistory
Development of different “TELE-technologies'':
Information interactionlimited amount of energy exchange
Energetic interactionmechanical energy
is actually exchanged
Paynter, “Generalized System Theory”, 1961
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17TeleroboticsTelerobotics: a brief history: a brief history
1954: electro-mechanical master-slave teleoperator developedby Goertz at Argonne National Lab.;
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18TeleroboticsTelerobotics: a brief history: a brief history
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;
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19TeleroboticsTelerobotics: a brief history: a brief history
60s: Telepresence, force reflection, two-arm teleoperators.touch sensing and display, a significant example is the Mosher'sHandyman, developed at General Electric Co.;
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20TeleroboticsTelerobotics: a brief history: a brief history
1965: first experiments with relevant time-delays (race to theMoon); instability problems were firstly noticed in forcereflection.
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22TeleroboticsTelerobotics: a brief history: a brief history
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.
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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)
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24TeleroboticsTelerobotics: a brief history: a brief history
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,
…
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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
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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)
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29TeleroboticsTelerobotics:: Space ServicingSpace Servicing
SPIDER arm
Dextrous grippers
Robonaut
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30TeleroboticsTelerobotics:: Space ServicingSpace Servicing
RobonautNASA - JPL
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31TeleroboticsTelerobotics:: RockvissRockviss Rockviss is a DLR proposal (ESA) and
has been developed for EVA activitieson ISS
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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).
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33TeleroboticsTelerobotics:: Space RoversSpace Rovers
Rovers SPIRIT e OPPORTUNITY Mars, January 2004
http://marsrovers.jpl.nasa.gov/
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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.
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35TeleroboticsTelerobotics: Medical applications: Medical applications
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
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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
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37TeleroboticsTelerobotics: Medical applications: Medical applications
Intuitive Surgicalhttp://www.intuitivesurgical.com/
T l b tiT l b ti M di l li tiM di l li ti
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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
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T l b tiTelerobotics S d fi itiSome definitions
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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
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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.
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ControlControl ProblemsProblems
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44ControlControl ProblemsProblems
An unstructured environment;with unknown physical properties (friction, mass, impedance, disturbances…)
ControlControl ProblemsProblems
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45ControlControl ProblemsProblems
Two distinct and (possibly) different robotic systems:different kinematics, dimensions, work space, impedance characteristics, dynamicproperties, …;
ControlControl ProblemsProblems -- GoalsGoals
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46
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ControlControl ProblemsProblems GoalsGoals
Possible goals of the overall control systems:
Stability
Performance
Aspects often in conflict!
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48ControlControl ProblemsProblems -- GoalsGoals
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48ControlControl ProblemsProblems GoalsGoals
Possible goals of the overall control systems:
Stability
Performance
Telepresence
Telefunctioning: Power scaling
Impedance scaling
Impedance shaping
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50Control Problems: GoalsControl Problems: Goals
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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
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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
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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
53ControlControl SchemesSchemes – – General RemarksGeneral Remarks
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Bilateral rate control:
direct
resolved
Operator aiding control:
Filtering
Scaling
Referencing
Motion constraints or compensation
Simulation
Master Slave
Master SlaveComputer
Direct
Resolved
54ControlControl SchemesSchemes – – General RemarksGeneral Remarks
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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
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57ControlControl SchemesSchemes – – General remarksGeneral remarks
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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
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0 1 2 3 4 5−0.01
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Time [s]
0 1 2 3 4 5−4
−2
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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]
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5x 10
−3 (d) tm−ts [N*m]
Time [s]
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−10
0
10(a) forcem/s [N]
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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
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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