Absolutely Stable Force Control for Telerobotic Applications PDF Download
Are you looking for read ebook online? Search for your book and save it on your Kindle device, PC, phones or tablets. Download Absolutely Stable Force Control for Telerobotic Applications PDF full book. Access full book title Absolutely Stable Force Control for Telerobotic Applications by John Scot Hart Jr. Download full books in PDF and EPUB format.
Author: John Scot Hart Jr
Publisher:
ISBN:
Category :
Languages : en
Pages :
Get Book Here
Book Description
The objective of bilateral telerobotic control architectures has long been to provide as tight a connection as possible between a human operator and the remote environment. Ideally the telerobot would be completely transparent allowing the user to feel as if they were directly touching the remote environment. The physical reality of remote manipulation requires the telerobot to consist of a master and a slave robot as well as a control system to connect the two devices. Unfortunately, all three of these systems have dynamics that limit the transparency of the overall telerobot. In particular, transparency is severely limited when using large industrial-like slave robots. The large internal friction forces, arising from high gear ratio actuators, as well as the large inertial forces, arising from the heavy linkages and reflected motor inertia, make it very difficult for the user to distinguish between forces arising from contact with the remote environment and forces arising from the natural dynamics of the slave robot. To improve transparency of telerobots using industrial-like slaves, force control can be applied around the slave device in an attempt to ensure the force applied to the environment by the slave tracks the desired force generated by the telerobotic control algorithm. Most force control algorithms however are plagued by instability when trying to make and maintain contact with stiff environments resulting in a persistent and potentially dangerous hammering of the environment by the slave known as contact instability. The focus of this thesis is to develop a force control algorithm that can be applied to an industrial-like slave device to improve the transparency of the overall telerobot without decreasing stability. Included in this thesis is an analysis of the dynamic interaction between the slave robot, the force control algorithm, the remote environment, and the human operator which shows that contact instability is caused by unmodeled yet fundamentally unavoidable lags in the control system such as amplifier roll-off or sensor bandwidth limitations. The analysis further shows that in order to have guaranteed stability with all possible combinations of human and environment impedances, a condition known as absolute stability, it is very difficult if not impossible to hide any of the slave's inertia from either the environment or the user. Based on this analysis, a model-based force control algorithm is developed that focuses control effort on rejecting the friction in the system without attempting to hide any of the slave's mass. The controller simulates a frictionless model of the robot used to provide the ideal trajectory the robot would take in response to the forces applied by both the user and the environment. A velocity controller is then used to make the robot track this idealized trajectory. This model-based force controller achieves perfect steady state force tracking when in contact, and is provably absolutely stable both for linear one degree of freedom (DOF) robots and nonlinear multi-DOF robots. This model-based force control algorithm represents a significant contribution to the field of telerobotics because it allows control engineers to utilize preexisting and well understood telerobotic control algorithms originally designed for slaves with minimal friction on telerobots using industrial-like slaves where friction is clearly a dominate force. Analytical and experimental results show that the addition of model-based force control around these industrial-like slaves improve the transparency of the telerobot, regardless of the specific telerobotic control architecture being used, without decreasing the overall robustness of the system.
Author: John Scot Hart Jr
Publisher:
ISBN:
Category :
Languages : en
Pages :
Get Book Here
Book Description
The objective of bilateral telerobotic control architectures has long been to provide as tight a connection as possible between a human operator and the remote environment. Ideally the telerobot would be completely transparent allowing the user to feel as if they were directly touching the remote environment. The physical reality of remote manipulation requires the telerobot to consist of a master and a slave robot as well as a control system to connect the two devices. Unfortunately, all three of these systems have dynamics that limit the transparency of the overall telerobot. In particular, transparency is severely limited when using large industrial-like slave robots. The large internal friction forces, arising from high gear ratio actuators, as well as the large inertial forces, arising from the heavy linkages and reflected motor inertia, make it very difficult for the user to distinguish between forces arising from contact with the remote environment and forces arising from the natural dynamics of the slave robot. To improve transparency of telerobots using industrial-like slaves, force control can be applied around the slave device in an attempt to ensure the force applied to the environment by the slave tracks the desired force generated by the telerobotic control algorithm. Most force control algorithms however are plagued by instability when trying to make and maintain contact with stiff environments resulting in a persistent and potentially dangerous hammering of the environment by the slave known as contact instability. The focus of this thesis is to develop a force control algorithm that can be applied to an industrial-like slave device to improve the transparency of the overall telerobot without decreasing stability. Included in this thesis is an analysis of the dynamic interaction between the slave robot, the force control algorithm, the remote environment, and the human operator which shows that contact instability is caused by unmodeled yet fundamentally unavoidable lags in the control system such as amplifier roll-off or sensor bandwidth limitations. The analysis further shows that in order to have guaranteed stability with all possible combinations of human and environment impedances, a condition known as absolute stability, it is very difficult if not impossible to hide any of the slave's inertia from either the environment or the user. Based on this analysis, a model-based force control algorithm is developed that focuses control effort on rejecting the friction in the system without attempting to hide any of the slave's mass. The controller simulates a frictionless model of the robot used to provide the ideal trajectory the robot would take in response to the forces applied by both the user and the environment. A velocity controller is then used to make the robot track this idealized trajectory. This model-based force controller achieves perfect steady state force tracking when in contact, and is provably absolutely stable both for linear one degree of freedom (DOF) robots and nonlinear multi-DOF robots. This model-based force control algorithm represents a significant contribution to the field of telerobotics because it allows control engineers to utilize preexisting and well understood telerobotic control algorithms originally designed for slaves with minimal friction on telerobots using industrial-like slaves where friction is clearly a dominate force. Analytical and experimental results show that the addition of model-based force control around these industrial-like slaves improve the transparency of the telerobot, regardless of the specific telerobotic control architecture being used, without decreasing the overall robustness of the system.
Author: National Research Council
Publisher: National Academies Press
ISBN: 0309051355
Category : Computers
Languages : en
Pages : 557
Get Book Here
Book Description
Despite widespread interest in virtual reality, research and development efforts in synthetic environments (SE)â€"the field encompassing virtual environments, teleoperation, and hybridsâ€"have remained fragmented. Virtual Reality is the first integrated treatment of the topic, presenting current knowledge along with thought-provoking vignettes about a future where SE is commonplace. This volume discusses all aspects of creating a system that will allow human operators to see, hear, smell, taste, move about, give commands, respond to conditions, and manipulate objects effectively in a real or virtual environment. The committee of computer scientists, engineers, and psychologists on the leading edge of SE development explores the potential applications of SE in the areas of manufacturing, medicine, education, training, scientific visualization, and teleoperation in hazardous environments. The committee also offers recommendations for development of improved SE technology, needed studies of human behavior and evaluation of SE systems, and government policy and infrastructure.
Author: National Aeronautics and Space Administration (NASA)
Publisher: Createspace Independent Publishing Platform
ISBN: 9781722163105
Category :
Languages : en
Pages : 34
Get Book Here
Book Description
To study space applications of telerobotics, Goddard Space Flight Center (NASA) has recently built a testbed composed mainly of a pair of redundant slave arms having seven degrees of freedom and a master hand controller system. The mathematical developments required for the computerized simulation study and motion control of the slave arms are presented. The slave arm forward kinematic transformation is presented which is derived using the D-H notation and is then reduced to its most simplified form suitable for real-time control applications. The vector cross product method is then applied to obtain the slave arm Jacobian matrix. Using the developed forward kinematic transformation and quaternions representation of the slave arm end-effector orientation, computer simulation is conducted to evaluate the efficiency of the Jacobian in converting joint velocities into Cartesian velocities and to investigate the accuracy of the Jacobian pseudo-inverse for various sampling times. In addition, the equivalence between Cartesian velocities and quaternion is also verified using computer simulation. The motion control of the slave arm is examined. Three control schemes, the joint-space adaptive control scheme, the Cartesian adaptive control scheme, and the hybrid position/force control scheme are proposed for controlling the motion of the slave arm end-effector. Development of the Cartesian adaptive control scheme is presented and some preliminary results of the remaining control schemes are presented and discussed. Nguyen, Charles C. and Zhou, Zhen-Lei Unspecified Center NAG5-1124...
Author:
Publisher: World Scientific
ISBN: 9813232242
Category : Medical
Languages : en
Pages : 1555
Get Book Here
Book Description
The Encyclopedia of Medical Robotics combines contributions in four distinct areas of Medical robotics, namely: Minimally Invasive Surgical Robotics, Micro and Nano Robotics in Medicine, Image-guided Surgical Procedures and Interventions, and Rehabilitation Robotics. The volume on Minimally Invasive Surgical Robotics focuses on robotic technologies geared towards challenges and opportunities in minimally invasive surgery and the research, design, implementation and clinical use of minimally invasive robotic systems. The volume on Micro and Nano robotics in Medicine is dedicated to research activities in an area of emerging interdisciplinary technology that is raising new scientific challenges and promising revolutionary advancement in applications such as medicine and biology. The size and range of these systems are at or below the micrometer scale and comprise assemblies of micro and nanoscale components. The volume on Image-guided Surgical Procedures and Interventions focuses primarily on the use of image guidance during surgical procedures and the challenges posed by various imaging environments and how they related to the design and development of robotic systems as well as their clinical applications. This volume also has significant contributions from the clinical viewpoint on some of the challenges in the domain of image-guided interventions. Finally, the volume on Rehabilitation Robotics is dedicated to the state-of-the-art of an emerging interdisciplinary field where robotics, sensors, and feedback are used in novel ways to re-learn, improve, or restore functional movements in humans.Volume 1, Minimally Invasive Surgical Robotics, focuses on an area of robotic applications that was established in the late 1990s, after the first robotics-assisted minimally invasive surgical procedure. This area has since received significant attention from industry and researchers. The teleoperated and ergonomic features of these robotic systems for minimally invasive surgery (MIS) have been able to reduce or eliminate most of the drawbacks of conventional (laparoscopic) MIS. Robotics-assisted MIS procedures have been conducted on over 3 million patients to date — primarily in the areas of urology, gynecology and general surgery using the FDA approved da Vinci® surgical system. The significant commercial and clinical success of the da Vinci® system has resulted in substantial research activity in recent years to reduce invasiveness, increase dexterity, provide additional features such as image guidance and haptic feedback, reduce size and cost, increase portability, and address specific clinical procedures. The area of robotic MIS is therefore in a state of rapid growth fueled by new developments in technologies such as continuum robotics, smart materials, sensing and actuation, and haptics and teleoperation. An important need arising from the incorporation of robotic technology for surgery is that of training in the appropriate use of the technology, and in the assessment of acquired skills. This volume covers the topics mentioned above in four sections. The first section gives an overview of the evolution and current state the da Vinci® system and clinical perspectives from three groups who use it on a regular basis. The second focuses on the research, and describes a number of new developments in surgical robotics that are likely to be the basis for the next generation of robotic MIS systems. The third deals with two important aspects of surgical robotic systems — teleoperation and haptics (the sense of touch). Technology for implementing the latter in a clinical setting is still very much at the research stage. The fourth section focuses on surgical training and skills assessment necessitated by the novelty and complexity of the technologies involved and the need to provide reliable and efficient training and objective assessment in the use of robotic MIS systems.In Volume 2, Micro and Nano Robotics in Medicine, a brief historical overview of the field of medical nanorobotics as well as the state-of-the-art in the field is presented in the introductory chapter. It covers the various types of nanorobotic systems, their applications and future directions in this field. The volume is divided into three themes related to medical applications. The first theme describes the main challenges of microrobotic design for propulsion in vascular media. Such nanoscale robotic agents are envisioned to revolutionize medicine by enabling minimally invasive diagnostic and therapeutic procedures. To be useful, nanorobots must be operated in complex biological fluids and tissues, which are often difficult to penetrate. In this section, a collection of four papers review the potential medical applications of motile nanorobots, catalytic-based propelling agents, biologically-inspired microrobots and nanoscale bacteria-enabled autonomous drug delivery systems. The second theme relates to the use of micro and nanorobots inside the body for drug-delivery and surgical applications. A collection of six chapters is presented in this segment. The first chapter reviews the different robot structures for three different types of surgery, namely laparoscopy, catheterization, and ophthalmic surgery. It highlights the progress of surgical microrobotics toward intracorporeally navigated mechanisms for ultra-minimally invasive interventions. Then, the design of different magnetic actuation platforms used in micro and nanorobotics are described. An overview of magnetic actuation-based control methods for microrobots, with eventually biomedical applications, is also covered in this segment. The third theme discusses the various nanomanipulation strategies that are currently used in biomedicine for cell characterization, injection, fusion and engineering. In-vitro (3D) cell culture has received increasing attention since it has been discovered to provide a better simulation environment of in-vivo cell growth. Nowadays, the rapid progress of robotic technology paves a new path for the highly controllable and flexible 3D cell assembly. One chapter in this segment discusses the applications of micro-nano robotic techniques for 3D cell culture using engineering approaches. Because cell fusion is important in numerous biological events and applications, such as tissue regeneration and cell reprogramming, a chapter on robotic-tweezers cell manipulation system to achieve precise laser-induced cell fusion using optical trapping has been included in this volume. Finally, the segment ends with a chapter on the use of novel MEMS-based characterization of micro-scale tissues instead of mechanical characterization for cell lines studies.Volume 3, Image-guided Surgical Procedures and Interventions, focuses on several aspects ranging from understanding the challenges and opportunities in this domain, to imaging technologies, to image-guided robotic systems for clinical applications. The volume includes several contributions in the area of imaging in the areas of X-Ray fluoroscopy, CT, PET, MR Imaging, Ultrasound imaging, and optical coherence tomography. Ultrasound-based diagnostics and therapeutics as well as ultrasound-guided planning and navigation are also included in this volume in addition to multi-modal imaging techniques and its applications to surgery and various interventions. The application of multi-modal imaging and fusion in the area of prostate biopsy is also covered. Imaging modality compatible robotic systems, sensors and actuator technologies for use in the MRI environment are also included in this work., as is the development of the framework incorporating image-guided modeling for surgery and intervention. Finally, there are several chapters in the clinical applications domain covering cochlear implant surgery, neurosurgery, breast biopsy, prostate cancer treatment, endovascular interventions, neurovascular interventions, robotic capsule endoscopy, and MRI-guided neurosurgical procedures and interventions.Volume 4, Rehabilitation Robotics, is dedicated to the state-of-the-art of an emerging interdisciplinary field where robotics, sensors, and feedback are used in novel ways to relearn, improve, or restore functional movements in humans. This volume attempts to cover a number of topics relevant to the field. The first section addresses an important activity in our daily lives: walking, where the neuromuscular system orchestrates the gait, posture, and balance. Conditions such as stroke, vestibular deficits, or old age impair this important activity. Three chapters on robotic training, gait rehabilitation, and cooperative orthoses describe the current works in the field to address this issue. The second section covers the significant advances in and novel designs of soft actuators and wearable systems that have emerged in the area of prosthetic lower limbs and ankles in recent years, which offer potential for both rehabilitation and human augmentation. These are described in two chapters. The next section addresses an important emphasis in the field of medicine today that strives to bring rehabilitation out from the clinic into the home environment, so that these medical aids are more readily available to users. The current state-of-the-art in this field is described in a chapter. The last section focuses on rehab devices for the pediatric population. Their impairments are life-long and rehabilitation robotics can have an even bigger impact during their lifespan. In recent years, a number of new developments have been made to promote mobility, socialization, and rehabilitation among the very young: the infants and toddlers. These aspects are summarized in two chapters of this volume.
Author:
Publisher:
ISBN:
Category : Aeronautics
Languages : en
Pages : 704
Get Book Here
Book Description
Author: Peter Kopacek
Publisher:
ISBN:
Category : Robots
Languages : en
Pages : 338
Get Book Here
Book Description
Author:
Publisher:
ISBN:
Category : Mechanical engineering
Languages : en
Pages : 424
Get Book Here
Book Description
Author: Manuel Ferre
Publisher: Springer
ISBN: 3540713646
Category : Technology & Engineering
Languages : en
Pages : 502
Get Book Here
Book Description
A fascinating book that covers in detail all of the most recent advances in Telerobotics. A must-read for scientists, researchers and students in teleoperation, it describes everything from methods and experimental results to applications and developments. Its three sections cover human system interfaces, control, and applications.
Author: Frank L. Lewis
Publisher: CRC Press
ISBN: 9780203026953
Category : Technology & Engineering
Languages : en
Pages : 646
Get Book Here
Book Description
Robot Manipulator Control offers a complete survey of control systems for serial-link robot arms and acknowledges how robotic device performance hinges upon a well-developed control system. Containing over 750 essential equations, this thoroughly up-to-date Second Edition, the book explicates theoretical and mathematical requisites for controls design and summarizes current techniques in computer simulation and implementation of controllers. It also addresses procedures and issues in computed-torque, robust, adaptive, neural network, and force control. New chapters relay practical information on commercial robot manipulators and devices and cutting-edge methods in neural network control.
Author: Kenzo Nonami
Publisher: Springer Science & Business Media
ISBN: 443154349X
Category : Technology & Engineering
Languages : en
Pages : 285
Get Book Here
Book Description
Legged robots are a promising locomotion system, capable of performing tasks that conventional vehicles cannot. Even more exciting is the fact that this is a rapidly developing field of study for researchers from a variety of disciplines. However, only a few books have been published on the subject of multi-legged robots. The main objective of this book is to describe some of the major control issues concerning walking robots that the authors have faced over the past 10 years. A second objective is to focus especially on very large hydraulically driven hexapod robot locomotion weighing more than 2,000 kg, making this the first specialized book on this topic. The 10 chapters of the book touch on diverse relevant topics such as design aspects, implementation issues, modeling for control, navigation and control, force and impedance control-based walking, fully autonomous walking, walking and working tasks of hexapod robots, and the future of walking robots. The construction machines of the future will very likely resemble hydraulically driven hexapod robots like the ones described in this book – no longer science fiction but now a reality.
