kinematics of haptics and telerobotic systemsiris.kaist.ac.kr/download/th/2._kinematic.pdf · 2019....
TRANSCRIPT
![Page 1: Kinematics of Haptics and Telerobotic Systemsiris.kaist.ac.kr/download/th/2._kinematic.pdf · 2019. 12. 30. · A. Okamura, Stanford, ME327 Noisy signal of velocity and acceleration](https://reader035.vdocuments.net/reader035/viewer/2022071421/611a8a9990703606886989be/html5/thumbnails/1.jpg)
Kinematics of Haptics and Telerobotic Systems
![Page 2: Kinematics of Haptics and Telerobotic Systemsiris.kaist.ac.kr/download/th/2._kinematic.pdf · 2019. 12. 30. · A. Okamura, Stanford, ME327 Noisy signal of velocity and acceleration](https://reader035.vdocuments.net/reader035/viewer/2022071421/611a8a9990703606886989be/html5/thumbnails/2.jpg)
How Haptic Interface Works ?
Human Operator
Discrete InterfaceVirtual Environ.Haptic Display
![Page 3: Kinematics of Haptics and Telerobotic Systemsiris.kaist.ac.kr/download/th/2._kinematic.pdf · 2019. 12. 30. · A. Okamura, Stanford, ME327 Noisy signal of velocity and acceleration](https://reader035.vdocuments.net/reader035/viewer/2022071421/611a8a9990703606886989be/html5/thumbnails/3.jpg)
Typical Transmission Mechanism
• Capstan drive
A. Okamura, Stanford, ME327
![Page 4: Kinematics of Haptics and Telerobotic Systemsiris.kaist.ac.kr/download/th/2._kinematic.pdf · 2019. 12. 30. · A. Okamura, Stanford, ME327 Noisy signal of velocity and acceleration](https://reader035.vdocuments.net/reader035/viewer/2022071421/611a8a9990703606886989be/html5/thumbnails/4.jpg)
Typical Transmission Mechanism
• Friction drive
A. Okamura, Stanford, ME327
![Page 5: Kinematics of Haptics and Telerobotic Systemsiris.kaist.ac.kr/download/th/2._kinematic.pdf · 2019. 12. 30. · A. Okamura, Stanford, ME327 Noisy signal of velocity and acceleration](https://reader035.vdocuments.net/reader035/viewer/2022071421/611a8a9990703606886989be/html5/thumbnails/5.jpg)
Transmission Kinematics
A. Okamura, Stanford, ME327
![Page 6: Kinematics of Haptics and Telerobotic Systemsiris.kaist.ac.kr/download/th/2._kinematic.pdf · 2019. 12. 30. · A. Okamura, Stanford, ME327 Noisy signal of velocity and acceleration](https://reader035.vdocuments.net/reader035/viewer/2022071421/611a8a9990703606886989be/html5/thumbnails/6.jpg)
Position Measure, Velocity Estimation
A. Okamura, Stanford, ME327
Noisy signal of velocity and acceleration
![Page 7: Kinematics of Haptics and Telerobotic Systemsiris.kaist.ac.kr/download/th/2._kinematic.pdf · 2019. 12. 30. · A. Okamura, Stanford, ME327 Noisy signal of velocity and acceleration](https://reader035.vdocuments.net/reader035/viewer/2022071421/611a8a9990703606886989be/html5/thumbnails/7.jpg)
Force/Torque relationships
![Page 8: Kinematics of Haptics and Telerobotic Systemsiris.kaist.ac.kr/download/th/2._kinematic.pdf · 2019. 12. 30. · A. Okamura, Stanford, ME327 Noisy signal of velocity and acceleration](https://reader035.vdocuments.net/reader035/viewer/2022071421/611a8a9990703606886989be/html5/thumbnails/8.jpg)
From joint to end-effector
• Forward kinematics
![Page 9: Kinematics of Haptics and Telerobotic Systemsiris.kaist.ac.kr/download/th/2._kinematic.pdf · 2019. 12. 30. · A. Okamura, Stanford, ME327 Noisy signal of velocity and acceleration](https://reader035.vdocuments.net/reader035/viewer/2022071421/611a8a9990703606886989be/html5/thumbnails/9.jpg)
Joint torque from Cartesian Desired Force
![Page 10: Kinematics of Haptics and Telerobotic Systemsiris.kaist.ac.kr/download/th/2._kinematic.pdf · 2019. 12. 30. · A. Okamura, Stanford, ME327 Noisy signal of velocity and acceleration](https://reader035.vdocuments.net/reader035/viewer/2022071421/611a8a9990703606886989be/html5/thumbnails/10.jpg)
1q! 2q! 3q!
knobs
Control Panel
AdvantageCheap (usually no computer or sensors are required)
DisadvantageHuman must do inverse kinematics in their hand !
Joint Rate Control
![Page 11: Kinematics of Haptics and Telerobotic Systemsiris.kaist.ac.kr/download/th/2._kinematic.pdf · 2019. 12. 30. · A. Okamura, Stanford, ME327 Noisy signal of velocity and acceleration](https://reader035.vdocuments.net/reader035/viewer/2022071421/611a8a9990703606886989be/html5/thumbnails/11.jpg)
( )q1-MF J Robot JointControl
Joystick
( )tx! ( )tq!Computer
q
Resolved Rate Control
Cartesian ratecommand
Control Reference Frame
![Page 12: Kinematics of Haptics and Telerobotic Systemsiris.kaist.ac.kr/download/th/2._kinematic.pdf · 2019. 12. 30. · A. Okamura, Stanford, ME327 Noisy signal of velocity and acceleration](https://reader035.vdocuments.net/reader035/viewer/2022071421/611a8a9990703606886989be/html5/thumbnails/12.jpg)
• Advantage– Modest computational requirements– Can be adapted to task (ex. Change ref. frame or
ref. PT) – Small workspace and DOF of Master
Resolved Rate Control (cont.)
Control ref. frame
Visual information
![Page 13: Kinematics of Haptics and Telerobotic Systemsiris.kaist.ac.kr/download/th/2._kinematic.pdf · 2019. 12. 30. · A. Okamura, Stanford, ME327 Noisy signal of velocity and acceleration](https://reader035.vdocuments.net/reader035/viewer/2022071421/611a8a9990703606886989be/html5/thumbnails/13.jpg)
• Disadvantage– Cognitive load
• operator must differentiate desired trajectory• rate control of orientation is difficult
– Watch out for singularities !• Need to consider singularity avoidance algorithm
Resolved Rate Control (cont.)
![Page 14: Kinematics of Haptics and Telerobotic Systemsiris.kaist.ac.kr/download/th/2._kinematic.pdf · 2019. 12. 30. · A. Okamura, Stanford, ME327 Noisy signal of velocity and acceleration](https://reader035.vdocuments.net/reader035/viewer/2022071421/611a8a9990703606886989be/html5/thumbnails/14.jpg)
Master SlaveHand Grip Gripper
Same DH Table
Definitions• Indexing: provision of an arbitrary offset between master and
slave configurations• Scaling: ability to multiply position commands by an arbitrary
constant
Master/Slave Control (Homeo morphie)
![Page 15: Kinematics of Haptics and Telerobotic Systemsiris.kaist.ac.kr/download/th/2._kinematic.pdf · 2019. 12. 30. · A. Okamura, Stanford, ME327 Noisy signal of velocity and acceleration](https://reader035.vdocuments.net/reader035/viewer/2022071421/611a8a9990703606886989be/html5/thumbnails/15.jpg)
Consider a M/S system which is moved by at the master resulting in slave motion
Master/Slave Control (cont.)
( )MMJ q1-
ixD
oxD
( )oMSJ qq +
ixD oxDMqD dqD
Pl
If and then1=Pl 0=oq
( ) ( )SSMMSM JJ qqqq == ,
and( ) ( ) iiMMSSo xxJJx D=D=D - qq 1
oq
![Page 16: Kinematics of Haptics and Telerobotic Systemsiris.kaist.ac.kr/download/th/2._kinematic.pdf · 2019. 12. 30. · A. Okamura, Stanford, ME327 Noisy signal of velocity and acceleration](https://reader035.vdocuments.net/reader035/viewer/2022071421/611a8a9990703606886989be/html5/thumbnails/16.jpg)
Master/Slave Control (cont.)
oMSoif qqqq +=¹ ,0 Index
( ) ( ) IJJ MMoMS ¹+ - qqq 1
Scale
MPSPif qlql =¹ ,1
( ) ( ) PMMMPS JJ lqql ¹-1
MS qq =
Controller must make sure that
![Page 17: Kinematics of Haptics and Telerobotic Systemsiris.kaist.ac.kr/download/th/2._kinematic.pdf · 2019. 12. 30. · A. Okamura, Stanford, ME327 Noisy signal of velocity and acceleration](https://reader035.vdocuments.net/reader035/viewer/2022071421/611a8a9990703606886989be/html5/thumbnails/17.jpg)
Master/Slave Control (cont.)
Ms TT 06
06 =
since DH tables are same, this implies
also, if torque of each joints are same
sm tt =
then, force feedback become automatically same
sm FF =
MS qq =If controller must make sure that
![Page 18: Kinematics of Haptics and Telerobotic Systemsiris.kaist.ac.kr/download/th/2._kinematic.pdf · 2019. 12. 30. · A. Okamura, Stanford, ME327 Noisy signal of velocity and acceleration](https://reader035.vdocuments.net/reader035/viewer/2022071421/611a8a9990703606886989be/html5/thumbnails/18.jpg)
Master/Slave Control (cont.)
Master Slave
Joint i Joint i
G G
+ -Mq Sq
One such controller is : (one for each joint)
![Page 19: Kinematics of Haptics and Telerobotic Systemsiris.kaist.ac.kr/download/th/2._kinematic.pdf · 2019. 12. 30. · A. Okamura, Stanford, ME327 Noisy signal of velocity and acceleration](https://reader035.vdocuments.net/reader035/viewer/2022071421/611a8a9990703606886989be/html5/thumbnails/19.jpg)
Master/Slave Control (cont.)
.
• Advantage– Simple architecture (eg. 6 analog controller)– Good operator interface (1:1 motion and force
control)
• Disadvantage– Master and slave must be same design– Master and slave must be in same configuration– Can’t index or scale except by DH scaling
![Page 20: Kinematics of Haptics and Telerobotic Systemsiris.kaist.ac.kr/download/th/2._kinematic.pdf · 2019. 12. 30. · A. Okamura, Stanford, ME327 Noisy signal of velocity and acceleration](https://reader035.vdocuments.net/reader035/viewer/2022071421/611a8a9990703606886989be/html5/thumbnails/20.jpg)
Generalized Master/Slave
• Master and slave completely different• Communication option
– 4x4 frames– Cartesian increments
Mq Sq( )MMT q06
1-Kin
s ( )MMJ qs1( )ssJ q1-
( )tT06
( )tx!
![Page 21: Kinematics of Haptics and Telerobotic Systemsiris.kaist.ac.kr/download/th/2._kinematic.pdf · 2019. 12. 30. · A. Okamura, Stanford, ME327 Noisy signal of velocity and acceleration](https://reader035.vdocuments.net/reader035/viewer/2022071421/611a8a9990703606886989be/html5/thumbnails/21.jpg)
Indexing using 4x4 frames
SM OO =Actually, in world frame pOO SM +=
MT06
ST06
}{ SM FF 66 /1) No Index
![Page 22: Kinematics of Haptics and Telerobotic Systemsiris.kaist.ac.kr/download/th/2._kinematic.pdf · 2019. 12. 30. · A. Okamura, Stanford, ME327 Noisy signal of velocity and acceleration](https://reader035.vdocuments.net/reader035/viewer/2022071421/611a8a9990703606886989be/html5/thumbnails/22.jpg)
Indexing using 4x4 frames
SM OO =
MT06
ST06
MF62) With an index effect
SF6
jMST : the current j-th index effect
¢MT
06
1+jMST
SMjMS TTT 0
6
1061
-
+ ÷øöç
èæ ¢=New index effect è
Human comfort zone
![Page 23: Kinematics of Haptics and Telerobotic Systemsiris.kaist.ac.kr/download/th/2._kinematic.pdf · 2019. 12. 30. · A. Okamura, Stanford, ME327 Noisy signal of velocity and acceleration](https://reader035.vdocuments.net/reader035/viewer/2022071421/611a8a9990703606886989be/html5/thumbnails/23.jpg)
Index Change Procedure, 4x4 frames
1. Normal teleoperation
2. Operator press (and holds) index button
3. Operator moves to new position , release button
4. Resume manipulation
( ) jMSMS TtTT 0
606 =
ST06 = constant, slave position locked
¢MT
06
SMjMS TTT 0
6
1061
-
+ ÷øöç
èæ ¢=
( ) 106
06 += j
MSMS TtTT
![Page 24: Kinematics of Haptics and Telerobotic Systemsiris.kaist.ac.kr/download/th/2._kinematic.pdf · 2019. 12. 30. · A. Okamura, Stanford, ME327 Noisy signal of velocity and acceleration](https://reader035.vdocuments.net/reader035/viewer/2022071421/611a8a9990703606886989be/html5/thumbnails/24.jpg)
Scaling using 4x4 frames
( ) jMSMS TtTT 0
6
4
3
2
1
06
úúúú
û
ù
êêêê
ë
é
=
ll
ll
is NOT ok ?
[ ]
úúúú
û
ù
êêêê
ë
é
úúú
û
ù
êêê
ë
é
=
1000
06
z
y
x
pS
ppp
RT l
Although
is ok ?
![Page 25: Kinematics of Haptics and Telerobotic Systemsiris.kaist.ac.kr/download/th/2._kinematic.pdf · 2019. 12. 30. · A. Okamura, Stanford, ME327 Noisy signal of velocity and acceleration](https://reader035.vdocuments.net/reader035/viewer/2022071421/611a8a9990703606886989be/html5/thumbnails/25.jpg)
Master-Slave 기준 좌표계 설정
O
O
O
Instrument arm 1
Camera arm
O
O
RootRoot
Control arm L
Master Slave
![Page 26: Kinematics of Haptics and Telerobotic Systemsiris.kaist.ac.kr/download/th/2._kinematic.pdf · 2019. 12. 30. · A. Okamura, Stanford, ME327 Noisy signal of velocity and acceleration](https://reader035.vdocuments.net/reader035/viewer/2022071421/611a8a9990703606886989be/html5/thumbnails/26.jpg)
Master-Slave 기준 좌표계 설정
O
O
O
Instrument arm 1
Camera arm
O
O
RootRoot
Control arm L
Master Slave
!"#.%&'(𝑇 = +#,-..
&'(𝑇
![Page 27: Kinematics of Haptics and Telerobotic Systemsiris.kaist.ac.kr/download/th/2._kinematic.pdf · 2019. 12. 30. · A. Okamura, Stanford, ME327 Noisy signal of velocity and acceleration](https://reader035.vdocuments.net/reader035/viewer/2022071421/611a8a9990703606886989be/html5/thumbnails/27.jpg)
Master-Slave 기준 좌표계 설정
O
O
O
OInstrument arm 2
Instrument arm 1
Camera arm
O
O
O
Control arm R
RootRoot
Control arm L
Master Slave
![Page 28: Kinematics of Haptics and Telerobotic Systemsiris.kaist.ac.kr/download/th/2._kinematic.pdf · 2019. 12. 30. · A. Okamura, Stanford, ME327 Noisy signal of velocity and acceleration](https://reader035.vdocuments.net/reader035/viewer/2022071421/611a8a9990703606886989be/html5/thumbnails/28.jpg)
Master-Slave 기준 좌표계 설정
O
OO
O
Instrument arm 2
Instrument arm 1
Camera arm
O
O
O Control arm R
RootRoot
Control arm L
Master Slave
![Page 29: Kinematics of Haptics and Telerobotic Systemsiris.kaist.ac.kr/download/th/2._kinematic.pdf · 2019. 12. 30. · A. Okamura, Stanford, ME327 Noisy signal of velocity and acceleration](https://reader035.vdocuments.net/reader035/viewer/2022071421/611a8a9990703606886989be/html5/thumbnails/29.jpg)
Indexing using Cartesian Increments
( ) ( )ttXtXXX MMMS D--=D=D
[ ]¢= yqfmmmM zyxX
MS
S
XX
X
D=D
=D
Resume 3.Master Move 2.
0Set 1.
Easier !
where
To re-index
![Page 30: Kinematics of Haptics and Telerobotic Systemsiris.kaist.ac.kr/download/th/2._kinematic.pdf · 2019. 12. 30. · A. Okamura, Stanford, ME327 Noisy signal of velocity and acceleration](https://reader035.vdocuments.net/reader035/viewer/2022071421/611a8a9990703606886989be/html5/thumbnails/30.jpg)
Indexing using Cartesian Increments
M
p
p
S XX Dúúú
û
ù
êêê
ë
é
=D
6
1
l
l!
ji pp ll ¹
Better !
Flexible !
![Page 31: Kinematics of Haptics and Telerobotic Systemsiris.kaist.ac.kr/download/th/2._kinematic.pdf · 2019. 12. 30. · A. Okamura, Stanford, ME327 Noisy signal of velocity and acceleration](https://reader035.vdocuments.net/reader035/viewer/2022071421/611a8a9990703606886989be/html5/thumbnails/31.jpg)
Rate Control Option
• Resolved rate control is an option with generalized master/slave
• Slave moves with a rate proportional to master deflection
• Needs some kind of “spring return”
( )0XXX MS -=D a
![Page 32: Kinematics of Haptics and Telerobotic Systemsiris.kaist.ac.kr/download/th/2._kinematic.pdf · 2019. 12. 30. · A. Okamura, Stanford, ME327 Noisy signal of velocity and acceleration](https://reader035.vdocuments.net/reader035/viewer/2022071421/611a8a9990703606886989be/html5/thumbnails/32.jpg)
Summary
Features Indexing Scaling Kinesthetic Correspondence
Ease operation
JR (O) O X Low
RRC (O) O X
MS X X O
GMS O O O High