In the Name of Merciful God

Mechatronics
Amir Aminzadeh Ghavifekr

Fall 2014

Teleoperation:
The prefix Tele from Greek origin means at a distance and teleoperation
naturally indicates operating at a distance.

Master:
A machine that enables a human operator to move about, sense and
mechanically manipulate objects at a distance

Slave:
It is a robot that accepts instructions from a distance, and performs
live actions at a distant environment through the use of sensors or
other control mechanisms.

Transparency:
Ideal of sensing information in a sufficiently natural way that one feels
to be physically present at the remote site.
2

Historical time line:

*1940s: The first masterslave teleoperator was built by Goertz
*1954: An improved version was reported in Goertz to achieve
mechanical separation of the master and slave

*1960s: An increased interest in the subject led to several experiments

to understand the effects of delay in teleoperation
*1980s: More advanced control theoretic methods started to appear,
such as Lyapunov-based analysis
*1990s: Network theory came into play through impedance
representation and teleoperation over the Internet has introduced
new problems
3

Some of the Applications of Teleoperation:

*The ability to send a remote controlled robotic vehicle into a
hazardous environment
* Deep sea exploration

*Earth to space operations

*Field of remote medicine

*Telesurgery
4

*Telemedicine is a rapidly expanding area that links medicine to other

fields.

Applications:
Telesurgery
Bi-directional physician-to-hospital links for transfer of patient
information, patient scheduling
Networking large healthcare groups, multicampus linking of hospitals
and research centers, linkages among rural health clinics to a central
hospital
Instant access and aided search techniques for, gathering information
from databases or electronic library collections
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Benefits:
1:Improved access
2:Improved quality of care
3:Reduced isolation
4:Reduced costs

**HL7:
U.S. group of people as well as a standard for electronic data exchange
in healthcare environments.
**American Medical Informatics Association (AMIA)

New area:
Network security has become an area of active research.

DISADVANTAGES:
ADVANTAGES:
-Minimizes surgical trauma

-Minimizes damage to healthy

tissue
-Shorter patient recovery time

-Reduced dexterity Limited flexibility

and range of motion.
-Inability to touch and feel the
organ of interest and reduced tactile
and force-feedback
- Amplification of the tremor
because of the larger lever arm.

Taxonomy of Surgical Robots :

Passive role: The role of the robot is limited in scope, or its
involvement is largely low risk.

Restricted role: The robot is responsible for more invasive

tasks with higher risk, but is still restricted from essential
portions of the procedure.

Active role: The robot is intimately involved in the

procedure and carries high responsibility and risk.
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10

Da Vinci and Zeus Surgical Robots

*In 1995, the Intuitive Surgical Corporation was formed to develop the
commercial technology required to bring telerobotic concepts to MIS
*Computer Motion introduced the first FDA-approved robotic system
for minimally-invasive surgery (MIS) in 1994. This lead naturally to the
introduction of the Zeus system in 1996, allowing for minimallyinvasive microsurgery.

1:Computer Motion

2:Intuitive Surgical

Intuitive Surgical

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12

four are motorized and two are not motorized

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UAV

Master

Slave

14

The main goals of teleoperation from control theoretic point of view :

Stability: Maintain stability of the closed-loop system irrespective of
the behavior of the operator or the environment.

Telepresence: Provide the human operator with a sense of

telepresence, with the latter regarded as transparency of the system
between the environment and the operator.

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1:Introduction

2:Denavit-Hartenberg notation
3:forward kinematic
4:Inverse kinematic(new metods)
5:obtain the manipulator Jacobian
6:Computer simulation
7:control it

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X5,x6,x7

X3,x4

y6

X0,x1,x2

z3

y4

Z0,z1

Z5,z7

y2

Y3,z4
Y5,z6,y7

Y0,y1,z2

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link length ai the offset distance between the zi1 and zi axes
along the xi axis;
link twist ai the angle from the zi1 axis to the zi axis about
the xi axis;
link offset di the distance from the origin of frame i1 to the xi
axis along the zi1 axis;
joint angle qi the angle between the xi1 and xi axes about
the zi1 axis.
alpha
a
d
theta
i
1
0
0
100
0
2
-90
0
25
0
3
90
68.85
214
14.28
4
-90
0
154
10.79
5
90
85
-10.79 68.85
6
-90
0
312
7.93
18
7
90
0
55
-7.93

l1=link([0 0 0 0 0],'standard');
l2=link([-90 0 0 0 0],'standard');
l3=link([90 14.28 0 68.5 0],'standard');
l4=link([-90 10.79 0 0 0],'standard');
l5=link([90 0 -10.79 68.5 0],'standard');
l6=link([-90 0 7.93 0 0],'standard');
l7=link([90 0 -7.93 0 0],'standard');
r=robot({l1 l2 l3 l4 l5 l6 l7});
plot(r,[100 25 214 154 85 312 55])

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150

100

50
noname

z
x y

-50

-100

-150
-150

-100

-50

50
Y

100

150

-100

100

X
20

q=
100 25 214 154 85 312 55

>> T = fkine(r,q)
T=
0.8465 0.4337 -0.3087 -10.4440
0.3497 -0.8903 -0.2918 8.1014
-0.4014 0.1390 -0.9053 -60.3918
0
0
0
1.0000

>>

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The Manipulator Jacobian:

J = [ J1 J2 J3 J4 J5 J6 J7 ]

zi *oi
Ji =

zi
J vi
J=
J
22

 o y

ox
0
J1

0
0

c1oz

s1 pz

J 2 s1 p y c1 p x

s1

c1

s1s2 ( pz a2 s2 d3c2 ) c 2( p y a2 s1c2 d 3 s1s2

...............

..................

J 3 .........................

......................

...................

................................

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Inverse Jacbian:

x(t) = Jq (t)

q(t) = J X (t) + (I7 - J J)z

T -1

J = WJ [JWJ ]
W = I and z = 0

=J

(JJ

-1
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The earliest approaches:

Initial experiments:
*The objective was to quantify the total time required to accomplish a
certain prespecified task
*Move-and-wait strategy is comprised of initiating a control move and
then waiting to see the response of the distant robot; then, initiating a
corrective move and waiting again to realize the delayed response of
the distant system and the cycle repeats until the task is accomplished.
N (l )

t (I) = t r + (t mi + t wi ) + (t r + t d )N (I) + t g + t d
i1
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*Supervisory control method

the completion time for a specific task depends linearly on the delay
factor in the control loop; hence, the larger the delay, the larger the
completion time. A feasible solution to circumvent this problem is to
allow the type of commands issued by the operator to be of a
supervisory nature.

*Software-based teleoperation
The advancement in microprocessor design during the 1970s and until
the early 1990s geared the teleoperation research towards exploiting
the constantly increasing computational power to achieve supervision
at a higher level.
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Other Methods:
*Robust neuro-fuzzy control

*Wave variables method

*Shared compliant control (SCC)

*Lyapunov analysis
*Impedance Modeling

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Dynamics of the operator:

Fh Fh Z hVh
Zh : The operators hand/arm/finger impedance
Vh: The operators position
Fh: Operators force applied to the master
Fh : Exogenous force generated by the operators muscles

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Dynamics of the Environment:

Fe Fe Z eVe
Ze : The environment impedance
Ve: Slaves position
Fe: The slaves force exerted on the environment
Fe : is the exogenous force inputs generated by the environment which
is often zero.

Dynamics of the Master and Slave:

Z mVh Fh Fcm
Z sVe Fe Fcs

Zm M m s
Zs M s s

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MSN Network Representation: Immittance model:

Fh Z11 Z12 Vh

Fe Z21 Z22 Ve
Vh Y11 Y12 Fh

Ve Y21 Y22 Fe

The Hybrid Matrix :

Fh h11 h12 Vh

Ve h 21 h 22 Fe
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MSN Network Representation: Scattering model

It is defined based on input [a1 a2]T and output wave variables [b1 b2]T

a1
a2
b1
b2

Fh R0Vh
2

R0

Fe bVe
2

R0

Fh R0Vh
2

R0

Fe R0Ve
2

R0
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 b1 S11 S12 a1


b2 S21 S22 a2
Relation between The scattering matrix and the hybrid matrix :

1 0
1
S
( H I )( H I )
0 -1

Teleoperation Systems Performance

*Stability
*Transparency
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Lawrence Impedance based definition for transparenc

Vh Ve
Fh Fe
A teleoperation system is said to be transparent if the impedance
transmitted the operator, Zto, is equal to environment impedance Ze
when Fe = 0:

Fh
Zto
Vh

Ze

H ideal

0 -1

1 0

Fe 0

So the ideal hybrid matrix is:

Transparency Transfer Function:

Zto
Gt
Ze

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Proposed the index of fidelity as the sensitivity of transmitted

impedance to the environment changes :

dZ to
Gt Ws
Ze Ze0
dZ e

where Ws is a weighting function and Ze0 is the nominal impedance

Range of Achievable Impedance

Z to min Z to

ze 0

Z to max Z to

ze

Z width Z to max Zto min

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Stability:
The most important goal in teleoperation controller design is system
stability.
passivity theory has been used as the prime method for the analysis of
stability robustness against time delay and operator and environment
dynamic uncertainties

The system is considered to be passive if and only if for flow (force)

F(t) and effort (position) V (t):
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F ( )V ( ) 0

when a one-port network (network 1) is coupled to a strictly passive

one-port network (network 2) the passivity condition of network 1 is
sufficient for the stability of the coupled system and is necessary when
dealing with any strictly passive network 2.

For two-port networks the passivity condition is expressed as:

t

[ F ( )V ( ) F ( )V ( )]d 0
h

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passivity of MSN is considered as a robust stability condition for

guaranteed coupled stability with any passive operator and
environment.
It can be shown that a two-port network with scattering matrix S is
passive if

S ( j )

sup w ( s( jw)) 1

An LTI two-port network with the immittance matrix P = [Pij] is

unconditionally stable if and only if:
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Llewellyns Criterion

P11 and P22 are positive real:

P11 and P22 have no poles in the open right-half-plane (RHP),
Any poles of P11 and P22 on the imaginary axis are simple and have real
and positive residues,
Re{P11} > 0 and Re{P22} > 0 .

And the inequality

holds on the jw axis for all w 0, where np(w) is called the network
stability parameter,

n p ( )

2 Re p11}Re P22 Re P12 P21

P12 P21

1
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Controller Architectures
Unilateral teleoperation system
Human
Operator

Master

Comm.Line

Environment

Slave

Bilateral teleoperation system

Human
Operator

Master

Comm.Line

Slave

Environment

For haptic teleoperation, user's motion commands are fed forward

from the master to the slave, and environment interaction forces are
fed back from the slave to the master (thus, bilateral control).
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Control architecture in teleoperation systems with advantages

and disadvantages
)
1)Position-position architecture(K.Hashtrudi-zaad & S.Salcuden,2001)
-Ve and Vh are transmitted
-poor transparency in contact with stiff environment,
-robust stability,
-simple to implement
2)Positon-Force architecture(G. Leung, B. Francis, and J. Apkarian1995)
-Fe and Vh are transmitted
-better transparency
-position control(master position is sent to the slave as a refrence command)
-force control(environment force is reflected back to the operator)
-its stability is more sensitive to time delay in the communication channel

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Four-Channel Architecture Formalism

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