TeleRobotics
by Amaren P Das SO-E, DRHR, BARC
What is telerobotics
Use of robots or Active devices to do teleopertion Teleoperation : Ability to manipulate objects remotely.
Poking hot coal in chulha
Telerobotics augments Teleoperation
Teleoperation: Why?
Which of these things will you like to do with your hand directly.
Tele-robotics
Setup
Master Side
Human operator Controller interface
robot/joystick etc
Slave Side
Industrial robot Remote Environment
Telerobotics: Features
Separation in space
Master and Slave may be separated by large distance
Telerobotics: Features
Difference in Scale
Works space may be different Actuator capacity different
Telerobotics: Features
Kinematic dissimilarity
Different dofs Different structure
Tele-robotics augments teleoperation
Capability to handle large loads over large distance using small masterLess human fatigue /effort Hand tremor reduction for micro manipulation as in micro surgery Motion guidance to human operator on known trajectories, for accurate assembly. Ability to switch between program mode and teleportation depending on task
Why robots need human help!
Artificial intelligence and computation power not mature enough to handle
If remote environment is
Unknown / unstructured Continuously varying Task not well defined Non repetitive task
Programmed robot cant work if
Telerobotics is to stay till artificial intelligence supersede human intelligence
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Welcome to the world of teleoperation
Types of teleoperation
Unilateral
Slave follows masters position and/or velocity No feedback to the master No actuator on master interface Easy to design Non intuitive as no force feedback Using Joystick to control a toy car.
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Bilateral
Bilateral teleoperation
Feeling of touch is important in manipulating things
Try assembling a peg in a hole: Dont we use force feedback to align the peg
In bilateral teleoperation
Force Fedback to Master
Master- speed/position slave Slave force Master
Adv: Better control over manipulation
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Bilateral teleoperation
Mechanically coupled Master slave systems are inherently bilateral
Disadvantage:
Uses Principal of Leaver action
Photo of leave action.
Rugged duty manipulator (RDM): DRHR,Bhabha Atomic Research Center,Mumbai 12
Current developments
Slave
Industrial Robot KUKA (KR-6)
Master
Omni Phantom (From Sensable Techonologies) 6-DOF Force reflection on 3 axis Light and Smaller workspace IEEE-1394 Fire-wire interface
Nominal Resolution ~0.055 Max Exertable force 3.3N
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Another Development bilateral teleoperation
Similar configuration robots on both master and slave side
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Development of Laperoscopic camera manipulation
Unilateral operation Benefit
Tremor reduction No drift Control with the main surgeon
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Overview of Kuka-Omni interface for bilateral teleoperation
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Description of Kuka
Manipulator
6dof manipulator Max speed of 2m/s with rated load Repeatability of 20microns Actuators 6AC servo motors from Siemens Incremental Encoder on each Axis
Endeffector
Parallel jaw gripper Pneumatically actuated
TeachPendent (KukaControlPannel)
Programming Interface
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Safety aspects
Emergency switch on Teach-pendent (Local) and access door (External) Dead-mans/ Enable switch on teach-pendent 3-Types of braking
Ramp-Down-stop key pressed, Enable released Path-oriented braking-emergency switch press Short-circuit braking- Encoder fault/Power failure/power off Program testing
Reduced speed teach mode (Total 4 modes)
Mechanical and S/w Limit switches Controller has battery back up for save close down
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Introduction of kuka robots CS
Coordinate systems
User defined
Tool Base World Robot-Root Tool[0] Base[0]
pre-defined
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Programming
Programming
Sequential flow No multi threading Loops Subprograms
Interrupt programming
Actuates on external Inputs Can stop robot prgramaticaly mid way of its path Modify path after stopping the robot
Motion programming
PTP LIN Circ Spline ? Absolute and relative
Note: Each motion command is completed before any other motion command is loaded.
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Eyes and Ears of Kuka
I/O are implemented on Controller PC using field bus cards Digital IO Analog I/O Ethernet
4096 digital Inputs 4096 digital Outputs
32 Analog inputs and 32 Analog outputs Range -10V to +10V -1.0 to +1.0 OPC Server (non real time) Robot Sensor Interface or RSI (real time ,12ms cycle time) Non real time Blocking
Serial port
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The controller KRC
Consists of
PC runs VxWorks and Windows Simataniously on the same processor
Kuka scheduler keeps between the 2 OS VxWorks: Runs Control Algos & motor Driver communication Windows is used for user interface for KCP VxWorks and Windows communicate using Virtual Network
Standard Pentium PC Motor drivers Multifunctional card IO device net or any field bus card Power supply
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Bilateral Teleoperation architecture
Force Torque sensor Force Host PC
F F
position
Kuka Arm
Kuka Controller Omni
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Note: Force torque sensor measures the Environmental interaction force/Toruques. It is mounted on the tool / Flang of the robot.
Desired performance for bilateralteleoperation
Transparency
Operator should not feel there is any thing between him and the (remote) Environment. The tele-operation system should be transparent non existent to him
Stability of the system
For any meaningful manipulation the slave should be stable and accurate Since master has actuators to reflect force, its stability is very important as it may harm the operator
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Challenges
Design of natural Interface for the operator
Example Exoskeleton
Mapping issues for Kinematical different master and slave Time delay due to communication delay or computational inefficiency cause
Lose of Intuitive manipulation Creates stability related issues
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Thank you
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