Planning and Real Time Control of a Minimally Invasive Robotic Surgery System

This paper introduces the planning and control software of a teleoperating robotic system for minimally invasive surgery. It addresses the problem of how to organize a complex system with 41 degrees of freedom including robot setup planning, force feedback control and nullspace handling with three robotic arms. The planning software is separated into sequentially executed planning and registration procedures. An optimal setup is first planned in virtual reality and then adapted to variations in the operating room. The real time control system is composed of hierarchical layers. The design is flexible and expandable without losing performance. Structure, functionality and implementation of planning and control are described. The robotic system provides the surgeon with an intuitive hand-eye-coordination and force feedback in teleoperation for both hands

Five-Axis Machine Tool Condition Monitoring Using dSPACE Real-Time System

This paper presents the design, development and SIMULINK implementation of the lumped parameter model of C-axis drive from GEISS five-axis CNC machine tool. The simulated results compare well with the experimental data measured from the actual machine. Also the paper describes the steps for data acquisition using ControlDesk and hardware-in-the-loop implementation of the drive models in dSPACE real-time system. The main components of the HIL system are: the drive model simulation and input – output (I/O) modules for receiving the real controller outputs. The paper explains how the experimental data obtained from the data acquisition process using dSPACE real-time system can be used for the development of machine tool diagnosis and prognosis systems that facilitate the improvement of maintenance activities

Mechatronic design, experimental setup, and control architecture design of a novel 4 DoF parallel manipulator

"This is an Author's Accepted Manuscript of an article published in [include the complete citation information for the final versíon of the article as published in the Mechanics Based Design of Structures and Machines 2018 [copyright Taylor & Francis], available online at: https://www.tandfonline.com/doi/10.1080/15397734.2017.1355249."[EN] Although parallel manipulators started with the introduction of architectures with six degrees of freedom, a vast number of applications require less than six degrees of freedom. Consequently, scholars have proposed architectures with three and four degrees of freedom, but relatively few four degrees of freedom parallel manipulators have become prototypes, especially of the two rotation and two translation motion types. In this article, we explain the mechatronics design, prototype, and control architecture design of a four degrees of freedom parallel manipulators with two rotation and two translation motions. We chose to design a four degrees of freedom manipulator based on the motion needed to complete the tasks of lower limb rehabilitation. To the author's best knowledge, parallel manipulators between three and six degrees of freedom for rehabilitation of lower limb have not been proposed to date. The developed architecture enhances the three minimum degrees of freedom required by adding a four degrees of freedom, which allows combinations of normal or tangential efforts in the joints, or torque acting on the knee. We put forward the inverse and forward displacement equations, describe the prototype, perform the experimental setup, and develop the hardware and control architecture. The tracking accuracy experiments from the proposed controller show that the manipulator can accomplish the required application.The authors wish to thank the Plan Nacional de I + D, Comision Interministerial de Ciencia y Tecnologia (FEDER-CICYT) for the partial funding of this study under project DPI2013-44227-R. We also want to thank the Fondo Nacional de Ciencia, Tecnologia e Innovacion (FONACIT-Venezuela) for its financial support under the project No. 2013002165.Vallés Miquel, M.; Araujo-Gómez, P.; Mata Amela, V.; Valera Fernández, Á.; Díaz-Rodríguez, M.; Page Del Pozo, AF.; Farhat, N. (2018). Mechatronic design, experimental setup, and control architecture design of a novel 4 DoF parallel manipulator. Mechanics Based Design of Structures and Machines. 46(4):425-439. https://doi.org/10.1080/15397734.2017.1355249S425439464Araujo-Gómez, P., Díaz-Rodriguez, M., Mata, V., Valera, A., & Page, A. (2016). Design of a 3-UPS-RPU Parallel Robot for Knee Diagnosis and Rehabilitation. CISM International Centre for Mechanical Sciences, 303-310. doi:10.1007/978-3-319-33714-2_34Bruyninckx, H., Soetens, P., Issaris, P., Leuven, K. (2002). The Orocos Project. http://www.orocos.org.Cao, R., Gao, F., Zhang, Y., Pan, D., & Chen, W. (2014). A New Parameter Design Method of a 6-DOF Parallel Motion Simulator for a Given Workspace. Mechanics Based Design of Structures and Machines, 43(1), 1-18. doi:10.1080/15397734.2014.904234Carretero, J. A., Podhorodeski, R. P., Nahon, M. A., & Gosselin, C. M. (1999). Kinematic Analysis and Optimization of a New Three Degree-of-Freedom Spatial Parallel Manipulator. Journal of Mechanical Design, 122(1), 17-24. doi:10.1115/1.533542Cazalilla, J., Vallés, M., Valera, Á., Mata, V., & Díaz-Rodríguez, M. (2016). Hybrid force/position control for a 3-DOF 1T2R parallel robot: Implementation, simulations and experiments. Mechanics Based Design of Structures and Machines, 44(1-2), 16-31. doi:10.1080/15397734.2015.1030679Chablat, D., & Wenger, P. (2003). Architecture optimization of a 3-DOF translational parallel mechanism for machining applications, the orthoglide. IEEE Transactions on Robotics and Automation, 19(3), 403-410. doi:10.1109/tra.2003.810242Clavel, R. (1988). A Fast Robot with Parallel Geometry. Proc. Int. Symposium on Industrial Robots, Lausanne, Switzerland, 91–100.Díaz, I., Gil, J. J., & Sánchez, E. (2011). Lower-Limb Robotic Rehabilitation: Literature Review and Challenges. Journal of Robotics, 2011, 1-11. doi:10.1155/2011/759764Díaz-Rodríguez, M., Mata, V., Valera, Á., & Page, Á. (2010). A methodology for dynamic parameters identification of 3-DOF parallel robots in terms of relevant parameters. Mechanism and Machine Theory, 45(9), 1337-1356. doi:10.1016/j.mechmachtheory.2010.04.007Escamilla, R. F., MacLeod, T. D., Wilk, K. E., Paulos, L., & Andrews, J. R. (2012). Cruciate ligament loading during common knee rehabilitation exercises. Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine, 226(9), 670-680. doi:10.1177/0954411912451839Gan, D., Dai, J. S., Dias, J., Umer, R., & Seneviratne, L. (2015). Singularity-Free Workspace Aimed Optimal Design of a 2T2R Parallel Mechanism for Automated Fiber Placement. Journal of Mechanisms and Robotics, 7(4). doi:10.1115/1.4029957Garage, W. (2009). Robot Operating System. www.ros.org. Accessed date: August 2nd, 2017.Girone, M., Burdea, G., Bouzit, M., Popescu, V., & Deutsch, J. E. (2001). Autonomous Robots, 10(2), 203-212. doi:10.1023/a:1008938121020Gough, V., Whitehall, S. (1962). Universal Tyre Test Machine. Proceedings 9th Int. Technical Congress FISITA, London, vol. 117, 117–135.Jamwal, P. K., Hussain, S., & Xie, S. Q. (2013). Review on design and control aspects of ankle rehabilitation robots. Disability and Rehabilitation: Assistive Technology, 10(2), 93-101. doi:10.3109/17483107.2013.866986Lee, K.-M., & Arjunan, S. (1992). A Three Degrees of Freedom Micro-Motion In-Parallel Actuated Manipulator. Precision Sensors, Actuators and Systems, 345-374. doi:10.1007/978-94-011-1818-7_9Li, Y., & Xu, Q. (2007). Design and Development of a Medical Parallel Robot for Cardiopulmonary Resuscitation. IEEE/ASME Transactions on Mechatronics, 12(3), 265-273. doi:10.1109/tmech.2007.897257Mohan, S., Mohanta, J. K., Kurtenbach, S., Paris, J., Corves, B., & Huesing, M. (2017). Design, development and control of a 2PRP-2PPR planar parallel manipulator for lower limb rehabilitation therapies. Mechanism and Machine Theory, 112, 272-294. doi:10.1016/j.mechmachtheory.2017.03.001Ortega, R., & Spong, M. W. (1989). Adaptive motion control of rigid robots: A tutorial. Automatica, 25(6), 877-888. doi:10.1016/0005-1098(89)90054-xPierrot, F., Company, O. (1999). H4: A New Family of 4 DoF Parallel Robots. Proceedings of 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Georgia, USA, 508–513.Ramsay, J. O., & Silverman, B. W. (1997). Functional Data Analysis. Springer Series in Statistics. doi:10.1007/978-1-4757-7107-7Rastegarpanah, A., Saadat, M., & Borboni, A. (2016). Parallel Robot for Lower Limb Rehabilitation Exercises. Applied Bionics and Biomechanics, 2016, 1-10. doi:10.1155/2016/8584735Stewart, D. (1965). A Platform with Six Degrees of Freedom. Proceedings of the Institution of Mechanical Engineers, 180(1), 371-386. doi:10.1243/pime_proc_1965_180_029_02Vallés, M., Cazalilla, J., Valera, Á., Mata, V., Page, Á., & Díaz-Rodríguez, M. (2015). A 3-PRS parallel manipulator for ankle rehabilitation: towards a low-cost robotic rehabilitation. Robotica, 35(10), 1939-1957. doi:10.1017/s0263574715000120Vallés, M., Díaz-Rodríguez, M., Valera, Á., Mata, V., & Page, Á. (2012). Mechatronic Development and Dynamic Control of a 3-DOF Parallel Manipulator. Mechanics Based Design of Structures and Machines, 40(4), 434-452. doi:10.1080/15397734.2012.687292Xu, W. L., Pap, J.-S., & Bronlund, J. (2008). Design of a Biologically Inspired Parallel Robot for Foods Chewing. IEEE Transactions on Industrial Electronics, 55(2), 832-841. doi:10.1109/tie.2007.909067Yoon, J., Ryu, J., & Lim, K.-B. (2006). Reconfigurable ankle rehabilitation robot for various exercises. Journal of Robotic Systems, 22(S1), S15-S33. doi:10.1002/rob.20150Zarkandi, S. (2011). Kinematics and Singularity Analysis of a Parallel Manipulator with Three Rotational and One Translational DOFs. Mechanics Based Design of Structures and Machines, 39(3), 392-407. doi:10.1080/15397734.2011.55914

Mechatronic development and dynamic control of a 3-DOF parallel manipulator

This is an Author's Accepted Manuscript of an article published in Mechanics Based Design of Structures and Machines: An International Journal, 40:4, 434-452 [September 2012] [copyright Taylor & Francis], available online at: http://www.tandfonline.com/10.1080/15397734.2012.687292The aim of this article is to develop, from the mechatronic point of view, a low-cost parallel manipulator (PM) with 3-degrees of freedom (DOF). The robot has to be able to generate and control one translational motion (heave) and two rotary motions (rolling and pitching). Applications for this kind of parallel manipulator can be found at least in driving-motion simulation and in the biomechanical field. An open control architecture has been developed for this manipulator, which allows implementing and testing different dynamic control schemes for a PM with 3-DOF. Thus, the robot developed can be used as a test bench where control schemes can be tested. In this article, several control schemes are proposed and the tracking control responses are compared. The schemes considered are based on passivity-based control and inverse dynamic control. The control algorithm considers point-to-point control or tracking control. When the controller considers the system dynamics, an identified model has been used. The control schemes have been tested on a virtual robot and on the actual prototype. © 2012 Taylor & Francis Group, LLC.The authors wish to express their gratitude to the Plan Nacional de I+D, Comision Interministerial de Ciencia y Tecnologia (FEDER-CICYT) for the partial financing of this study under the projects DPI2009-13830-C02-01 and DPI2010-20814-C02-(01, 02). This work was also supported in part by the CDCHT-ULA Grant I-1286-11-02-B.Vallés Miquel, M.; Díaz-Rodríguez, M.; Valera Fernández, Á.; Mata Amela, V.; Page Del Pozo, AF. (2012). Mechatronic development and dynamic control of a 3-DOF parallel manipulator. Mechanics Based Design of Structures and Machines: An International Journal. 40(4):434-452. https://doi.org/10.1080/15397734.2012.687292S434452404Awtar, S., Bernard, C., Boklund, N., Master, A., Ueda, D., & Craig, K. (2002). Mechatronic design of a ball-on-plate balancing system. Mechatronics, 12(2), 217-228. doi:10.1016/s0957-4158(01)00062-9Carretero, J. A., Podhorodeski, R. P., Nahon, M. A., & Gosselin, C. M. (1999). Kinematic Analysis and Optimization of a New Three Degree-of-Freedom Spatial Parallel Manipulator. Journal of Mechanical Design, 122(1), 17-24. doi:10.1115/1.533542Castelli, G., Ottaviano, E., & Ceccarelli, M. (2008). A Fairly General Algorithm to Evaluate Workspace Characteristics of Serial and Parallel Manipulators#. Mechanics Based Design of Structures and Machines, 36(1), 14-33. doi:10.1080/15397730701729478Chablat, D., & Wenger, P. (2003). Architecture optimization of a 3-DOF translational parallel mechanism for machining applications, the orthoglide. IEEE Transactions on Robotics and Automation, 19(3), 403-410. doi:10.1109/tra.2003.810242Clavel , R. ( 1988 ). DELTA, a fast robot with parallel geometry.Proceedings of 18th International Symposium on Industrial Robot.Switzerland: Lausanne, April, pp. 91–100 .Díaz-Rodríguez, M., Mata, V., Farhat, N., & Provenzano, S. (2008). Identifiability of the Dynamic Parameters of a Class of Parallel Robots in the Presence of Measurement Noise and Modeling Discrepancy#. Mechanics Based Design of Structures and Machines, 36(4), 478-498. doi:10.1080/15397730802446501Díaz-Rodríguez, M., Mata, V., Valera, Á., & Page, Á. (2010). A methodology for dynamic parameters identification of 3-DOF parallel robots in terms of relevant parameters. Mechanism and Machine Theory, 45(9), 1337-1356. doi:10.1016/j.mechmachtheory.2010.04.007García de Jalón, J., & Bayo, E. (1994). Kinematic and Dynamic Simulation of Multibody Systems. Mechanical Engineering Series. doi:10.1007/978-1-4612-2600-0Gough , V. E. , Whitehall , S. G. ( 1962 ). Universal tire test machine.Proceedings of 9th International Technical Congress FISITA, London, pp. 117–137 .Sung Kim, H., & Tsai, L.-W. (2003). Kinematic Synthesis of a Spatial 3-RPS Parallel Manipulator. Journal of Mechanical Design, 125(1), 92-97. doi:10.1115/1.1539505Lee, K.-M., & Shah, D. K. (1988). Kinematic analysis of a three-degrees-of-freedom in-parallel actuated manipulator. IEEE Journal on Robotics and Automation, 4(3), 354-360. doi:10.1109/56.796Li, Y., & Xu, Q. (2007). Design and Development of a Medical Parallel Robot for Cardiopulmonary Resuscitation. IEEE/ASME Transactions on Mechatronics, 12(3), 265-273. doi:10.1109/tmech.2007.897257Merlet, J.-P. (2000). Parallel Robots. Solid Mechanics and Its Applications. doi:10.1007/978-94-010-9587-7Merlet , J. P. ( 2002 ). Optimal design for the micro parallel robot MIPS.Proceedings IEEE International Conference on Robotics and Automation, Washington, DC, pp. 1149–1154 .Ortega, R., & Spong, M. W. (1989). Adaptive motion control of rigid robots: A tutorial. Automatica, 25(6), 877-888. doi:10.1016/0005-1098(89)90054-xPaccot, F., Andreff, N., & Martinet, P. (2009). A Review on the Dynamic Control of Parallel Kinematic Machines: Theory and Experiments. The International Journal of Robotics Research, 28(3), 395-416. doi:10.1177/0278364908096236Rosillo, N., Valera, A., Benimeli, F., Mata, V., & Valero, F. (2011). Real‐time solving of dynamic problem in industrial robots. Industrial Robot: An International Journal, 38(2), 119-129. doi:10.1108/01439911111106336Stewart , D. A. ( 1965 ). A platform with 6 degree of freedom.Proceedings of the Institution of Mechanical Engineers.Part 1 15:371–386 .Syrseloudis , C. E. , Emiris , I. Z. ( 2008 ). A parallel robot for ankle rehabilitation-evaluation and its design specifications.Proceeding of 8th IEEE International Conference on BioInformatics and BioEngineering, Athens, October 1–6

A Real-Time Service-Oriented Architecture for Industrial Automation

Industrial automation platforms are experiencing a paradigm shift. New technologies are making their way in the area, including embedded real-time systems, standard local area networks like Ethernet, Wi-Fi and ZigBee, IP-based communication protocols, standard service oriented architectures (SOAs) and Web services. An automation system will be composed of flexible autonomous components with plug & play functionality, self configuration and diagnostics, and autonomic local control that communicate through standard networking technologies. However, the introduction of these new technologies raises important problems that need to be properly solved, one of these being the need to support real-time and quality-of-service (QoS) for real-time applications. This paper describes a SOA enhanced with real-time capabilities for industrial automation. The proposed architecture allows for negotiation of the QoS requested by clients from Web services, and provides temporal encapsulation of individual activities. This way, it is possible to perform an a priori analysis of the temporal behavior of each service, and to avoid unwanted interference among them. After describing the architecture, experimental results gathered on a real implementation of the framework (which leverages a soft real-time scheduler for the Linux kernel) are presented, showing the effectiveness of the proposed solution. The experiments were performed on simple case studies designed in the context of industrial automation applications

The IFMIF-DONES remote handling control system: Experimental setup for OPC UA integration

The devices used to carry out Remote Handling (RH) manipulation tasks in radiation environments address requirements that are significantly different from common robotic and industrial systems due to the lack of repetitive operations and incompletely specified control actions. This imposes the need of control with human-in -the-loop operations. These RH systems are used on facilities such PRIDE, CERN, ESS, ITER or IFMIF-DONES, the reference used for this work. For the RH system is crucial to provide high availability, robustness against radiation, haptic devices for teleoperation and dexterous operation, and smooth coordination and integration with the centralized control room. To achieve this purpose is necessary to find the best approach towards a standard control framework capable of providing a standard set of functionalities, tools, interfaces, communications, and data formats to the different types of mechatronic devices that are usually considered for Remote Handling tasks. This previous phase of homogenization is not considered in most facilities, which leads towards a costly integration process during the commissioning phase of the facility.In this paper, an approach to the IFMIF-DONES RH Control framework with strong standard support based on protocols such as OPC UA has been described and validated through an experimental setup. This test bench includes a set of physical devices (PLC, conveyor belt and computers) and a set of OPC UA compatible software tools, configured and operable from any node of the University of Granada network. This proof-of-concept mockup provides flexibility to modify the dimension and complexity of the setup by using new virtual or physical devices connected to a unique backbone. Besides, it will be used to test different aspects such as control schemes, failure injection, network modeling, predictive maintenance studies, operator training on simulated/ real scenarios, usability or ergonomics of the user interfaces before the deployment. In this contribution, the results are described and illustrated using a conveyor belt set-up, a small but representative reference used to validate the RH control concepts here proposed.European Union via the Euratom Research and Training Programme 101052200 - EUROfusio