ELEC 391 – Robotics 1 Autonomous Motion-Control System Master Slave Carry out intended task Side-effects of actions Pre-defined task No human in the loop Smart: ability to INTERPRET & make decisions Interpret: derive INTENT from information provided Master Achieves outcome in physical world Sends low-level commands to slave Dumb Prescribed trajectory No real-time decisions made Intelligent Computer logic / AI Responds to FB from physical system Slave Carries out low-level commands May send sensor data to master Dumb Joint-space Open-loop control Intelligent Task-space → coordinated motion Closed-loop control Robot ELEC 391 – Robotics 2 Path Speed Faster Slower Scale time axis of desired path Coordinated Motion Trajectory Very Nice : Continuous 2nd Derivative Nice : Discontinuous 2nd Derivative Not Nice : Discontinuous 1st Derivative : Discontinuous Path ELEC 391 – Robotics 3 Path Continuity Joint-Space : Discontinuous path Task Space : Coordinated motion path start end Surgical Plan Robodoc.com Thinksurgical.com coronal medial transverse ELEC 391 – Robotics 4 Laser Vision Correction (Lasik) Laser in-situ keratomileusis Optical robot Small motion range Very
fast ARTAS Hair Restoration Course/Fine Robot OTS KUKA arm Custom end-effector Repetitive path Implant hair follicles ELEC 391 – Robotics 5 Tele-Op Motion-Control System Master Slave Carry out intended task Side-effects of actions Tele-Operation Put human somewhere – they don’t fit – is dangerous – is far away Augment human – Position resolution Motion scaling – Sensory resolution Force scaling Master (I/P Device) – Passive P (mouse) F (3D mouse) – Active PP PF FP ELEC 391 – Robotics 6 Passive Master Task Outcome + _ PID Control Slave Robot Pos Sensor Passive Master Active Master P-P Control Example Work Site + _ PID Control Master Robot Pos Sensor + + Outcome + _ PID Control Slave Robot Pos Sensor + + ELEC 391 – Robotics 7 General Purpose Intuitivesurgical.com Master (semi-active) Slave Verb Flex ELEC 391 – Robotics 8 Atrial Fibrillation Ablation Ablate conduction paths in Atrium Hansenmedical.com LARA LVRVMaster (active) Slave Makosurgical.com Master & Slave THA / TKA Guidance System – Combined Master/Slave Impedance Control