Time- Delay Control of UR5 Robot and Application in Telerobotic Ultrasound

There is a risk of healthcare workers contacting any virus via cross-contamination, which poses a significant risk to their lives. There are many diagnoses and treatments for individuals suffering significantly from ultrasound imaging; however, patients must be in close physical contact with the sonographer to perform the procedure. Telerobotics can also be useful for operating with patients in rural areas with fewer doctors. Telerobotic ultrasound technology enables remote control of ultrasound probes, which helps prevent patients and sonographers from coming into direct touch with one another. One can observe the delay in Robot movements using the Computed Torque Control method. In this paper, the control algorithms are developed for Time Delayed control for the UR5 Robot, and this algorithm is also verified in the simulation environment and experimental setup. For simulation, the Pybullet library in Python was used. For the experimental setup, there is a Geomagic device at the doctor’s clinic, and at the remote site, a 6 Degree of Freedom UR5 Robotic arm is used.