Lecture 9: Teleoperation (implementation)
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1 ME 327: Design and Control of Haptic Systems Spring 2019 Lecture 9: Teleoperation (implementation) Allison M. Okamura Stanford University
2 teleoperation history and examples
3 the genesis of teleoperation? a Polygraph is a device that produces a copy of a piece of writing simultaneously with the creation of the original, using pens and ink. Famously used by Thomas Jefferson ~1805. Typically uses a pantograph mechanism: a five-bar linkage with parallel bars such that motion at one point is reproduced at another point
4 teleoperation history first telemanipulator: 1948, Ray Goertz, U.S. Atomic Energy Commission goal was to protect workers from radiation, while enabling precise manipulation of materials a device which is responsive to another device is termed a slave / follower and the controlling device is termed a master at first, mechanical linkages and cables 1954: electrical and hydraulic servomechanisms 1960s: closed-circuit television and head-mounted displays (HMDs)
5 bilateral control = force feedback inherent in mechanical teleoperators forces at the follower endeffector are reflected to the master end-effector displacements produced at the follower end-effector produce a displacement at the master end-effector
6 modern telemanipulators undersea: exploration and oil acquisition space 1967: Surveyor III landed on the surface of the Moon (a few seconds delay in the two-way transmission to earth of commands and information) 1976: Viking spacecraft, landed on Mars was programmed to carry out strictly automated operations Shuttle Remote Manipulator System (SRMS): retrieves satellites and place them in the cargo bay; mobile work platform for astronauts during space walks
7 even more dexterous teleoperation Robonaut Robot Systems Technology Branch at NASA's Johnson Space Center purpose is to replace astronauts in dangerous missions, such as space walk, on the space shuttle and/or the space station both autonomous operation and teleoperation are being developed
8 surgical robotics (e.g., da Vinci Surgical System) images and video Intuitive Surgical, Inc. 2012
9 simple system example Follower Master Abbott and Okamura 2004
10 hapkit example
11 teleoperation controllers
12 unilateral teleoperator model Follower Follower modified from Kuchenbecker Ph.D. Thesis (2006)
13 bilateral teleoperator model (using position) Follower Follower modified from Kuchenbecker Ph.D. Thesis (2006)
14 bilateral teleoperator model (using force) Follower Follower modified from Kuchenbecker Ph.D. Thesis (2006)
15 teleoperation block diagrams
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sha1_base64="tbpn3lwcq+ns+nlybg0xh/bpxko=">aaab7xicbzdlsgmxfibp1futt6pln8eiucoziuiy6mzlbxubdiiztkanzwvimkiz+g5uxcji1vdx59uytrpq1h8ch/85h5zzrylnxvr+t1daw9/y3cpvv3z29/ypqodhbamytwilkk50n8kgcizpyzllatfvfiui0040vp3vo09ug6bkg52knbr4kfncclboao8herxmb9wax/fnqqsqffcdqs1b9asfk5ijki3h2jhe4kc2zlg2jha6rfqzq1nmxnhiew4lftse+xzbktpztowspd2tfs3d3xm5fszmroq6bbyjs1ybmf/veplnrsocytszvjlfr0ngkvvodjqkmabe8okdtdrzuyiywhot6wkqubcc5znxox1rdxzfx9yan0ucztibuzihak6gaxfqhbyqeirneiu3t3kv3rv3swgtecxmmfyr9/kdevipdq==</latexit> master robot controller for bilateral teleoperation (using position) f a1 (t) =k p1 (x 2 x 1 )+k d1 (ẋ 2 ẋ 1 ) f a1 (t) x 1 x 2 master actuator force position of master position of follower k p1 k d1 master proportional gain master derivative gain for each haptic loop, the follower s motion is recorded and the master robot attempts to follow the follower
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20 discussion for these control laws to work, what properties should the master and/or follower robot have? motion scaling: why would you want this, and how would you change the control laws to accomplish this? force amplification: why would you want this, and how would you change the control laws to accomplish this?
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