Modeling & Control of Telerobotic System
碩士 === 大同工學院 === 機械工程研究所 === 86 === A telerobotic system consists of two robots: a master robot which is maneuvered by a human and a slave robot which performs a task at a location remote from the master. The master robot is not connected mechanically to the the slave robot; instead infor...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
1998
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| Online Access: | http://ndltd.ncl.edu.tw/handle/92993793532692234819 |
| Summary: | 碩士 === 大同工學院 === 機械工程研究所 === 86 === A telerobotic system consists of two robots: a master robot which is maneuvered by a human and a slave robot which performs a task at a location remote from the master. The master robot is not connected mechanically to the the slave robot; instead information is transferred to the slave in the formof digital signals. The control architecture utilizes human arms within aclosed-loop system of haptic interface devices. Within such a teleroboticsystem, a human controller's manipulating a master robot causes the slave robot to manipulate and maneuver within its environment. The sense of touch is transmitted from the slave to the master robot through haptic interface devices without alteration. This allows the human controller to "feel" the environmental dynamic actions of the slave robot at a remote location. In the past the design of compensation systems for telerobotic systems has been extremely complex. This research project aims to simplify the designof compensation systems. It also shows how haptic interface devices and control systems can be joined together in telerobotic systems, human power amplifiersystems and virtual reality systems with different applications. A set ofexperiments performed on a one-degree-of-freedom telerobotic system are presented to show system performance and stability.
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