Open Access. Powered by Scholars. Published by Universities.®
- Publication
Articles 1 - 3 of 3
Full-Text Articles in Mechanical Engineering
Kinesthetic Haptics Sensing And Discovery With Bilateral Teleoperation Systems, Tian Qiu
Kinesthetic Haptics Sensing And Discovery With Bilateral Teleoperation Systems, Tian Qiu
Doctoral Dissertations
In the mechanical engineering field of robotics, bilateral teleoperation is a classic but still increasing research topic. In bilateral teleoperation, a human operator moves the master manipulator, and a slave manipulator is controlled to follow the motion of the master in a remote, potentially hostile environment. This dissertation focuses on kinesthetic perception analysis in teleoperation systems. Design of the controllers of the systems is studied as the influential factor of this issue. The controllers that can provide different force tracking capability are compared using the same experimental protocol. A 6 DOF teleoperation system is configured as the system testbed. An …
Passive Control Architectures For Collaborative Virtual Haptic Interaction And Bilateral Teleoperation Over Unreliable Packet-Switched Digital Network, Ke Huang
Doctoral Dissertations
This PhD dissertation consists of two major parts: collaborative haptic interaction (CHI) and bilateral teleoperation over the Internet. For the CHI, we propose a novel hybrid peer-to-peer (P2P) architecture including the shared virtual environment (SVE) simulation, coupling between the haptic device and VE, and P2P synchronization control among all VE copies. This framework guarantees the interaction stability for all users with general unreliable packet-switched communication network which is the most challenging problem for CHI control framework design. This is achieved by enforcing our novel \emph{passivity condition} which fully considers time-varying non-uniform communication delays, random packet loss/swapping/duplication for each communication channel. …
Haptic Tele-Operation Of Wheeled Mobile Robot And Unmanned Aerial Vehicle Over The Internet, Zhiyuan Zuo
Haptic Tele-Operation Of Wheeled Mobile Robot And Unmanned Aerial Vehicle Over The Internet, Zhiyuan Zuo
Masters Theses
Teleoperation of ground/aerial vehicle extends operator's ability (e.g. expertise, strength, mobility) into the remote environment, and haptic feedback enhances the human operator's perception of the slave environment. In my thesis, two cases are studied: wheeled mobile robot (MWR) haptic tele-driving over the Internet and unmanned aerial vehicle (UAV) haptic teleoperation over the Internet.
We propose novel control frameworks for both dynamic WMR and kinematic WMR in various tele-driving modes, and for a "mixed" UAV with translational dynamics and attitude kinematics.
The recently proposed passive set-position modulation (PSPM) framework is extended to guarantee the passivity and/or stability of the closed-loop system …