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Telerobotics: by Amaren P Das So-E, DRHR, Barc

This is a short presentation on telerobotics it scope and relevance in the present world of robotics. It also show some of the work carried by me and my team in this area. It concludes with the current challenges in this field.

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Amaren
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394 views

Telerobotics: by Amaren P Das So-E, DRHR, Barc

This is a short presentation on telerobotics it scope and relevance in the present world of robotics. It also show some of the work carried by me and my team in this area. It concludes with the current challenges in this field.

Uploaded by

Amaren
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
You are on page 1/ 26

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

26

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