Scaling Of MDOF Micro-Macro Bilateral Control Teleoperation System Using Standardized Modal Space
In future, robots and mechatronic system are required to support human, they should have a lot of abilities such as recognition of the real world based on the complicated human action to environment based on human sensation and so on. The word “Haptic” means sense of touch and haptic information is...
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| Format: | Thesis |
| Language: | English English |
| Published: |
2016
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| Subjects: | |
| Online Access: | http://eprints.utem.edu.my/id/eprint/18175/1/Scaling%20Of%20MDOF%20Micro-Macro%20Bilateral%20Control%20Teleoperation%20System%20Using%20Standardized%20Modal%20Space%2024%20Pages.pdf http://eprints.utem.edu.my/id/eprint/18175/2/Scaling%20Of%20MDOF%20Micro-Macro%20Bilateral%20Control%20Teleoperation%20System%20Using%20Standardized%20Modal%20Space.pdf |
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| Summary: | In future, robots and mechatronic system are required to support human, they should have a lot of abilities such as recognition of the real world based on the complicated human action to environment based on human sensation and so on. The word “Haptic” means sense of touch and haptic information is studied as the third type of multimedia information. Unlike audio and visual information which is transmitted to one direction (unilateral), haptic information is bidirectional information (bilateral), which applied “law of action and reaction” a tactile information in bilateral information. Thus, a bilateral control system with master and slave manipulator to transmit the information bilaterally has been researched. In this thesis, bilateral teleoperation control system is implemented in single link planar and two link planar manipulator which consisted of master and slave system. The modelling of bilateral teleoperation control system is designed with the integration of Disturbance Observer (DOB), Reaction Force/Torque Observer (RFOB)/(RTOB), position controller and force controller. Then further research on micro-macro bilateral teleoperation control system is done on multi degree-of-freedoms (MDOF) which is two link planar manipulator. The micro-macro bilateral control teleoperation system provides the human operator with a sense of feel to a micro or macro environment as if it is in the same scale environment. However, the micro-macro bilateral control system of this thesis consists of same size structure between master and slave manipulator. Thus a standardized modal space method is proposed to achieve for MDOF micro-macro bilateral control teleoperation system. This method able to scale the force and position information between master slave system. It is a novel method for transmission of force and motion in macro environment in order to realize the physical support for the macro activities. Nevertheless, this proposed method able to scale the haptic information between the master and slave system accordingly. To validate the performance of common mode and differential mode of the proposed method, 4 cases of free and contact motion experiments with different nominal mass ratio between master and slave system are conducted. Then the root-mean-square deviation of the nominal mass ratio and scaling α gain from 4 different cases is 1.12×10−5 and 2.55×10−5 for |
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