| Summary: | 博士 === 大同大學 === 機械工程研究所 === 89 === In practice, there are many jobs that are in highly dangerous and complicated environments, are limited by human force, or should be down by human knowledge with intelligence and experience.
The most effective method is tackle the problems is to use the master-slave telerobotics with haptic behavior.
Due to the fact that the master robot is maneuvered by the human arm and its dynamics and characteristics are always changed, the performance of the closed-loop system is not satisfied, and even to an unstable extent.
One way to solve the problem is to incorporate the human dynamics into the closed-loop system such that the characteristic of the human can also be considered in the stability criteria.
In order to include the human dynamics into the closed-loop, powered handlers must be used to transform the human force into electrical signals by force sensors.
In addition, signals from the master side are run forward to the slave one by the haptic interface device and vice versa, such that the operator can feel the actual force feedback from the slave side just as she/he would from the real one.
In this thesis, analysis and design of the telerobotics based on the haptic interface device for controlling the master slave robots and virtual reality (VR) for simulating the cutting clay system is proposed.
The main components of the system include user interface, networking, actuators, and haptic interface simulated by the computer softwares.
In order to guarantee the stability of the system, the Nyquist criterion and maximum modulus theorem are both used to find the stability bounds.
By selecting a proper value ranged from the bounds, the satisfactory performance of the closed-loop system is also achieved.
For controlling the cutting clay system, the slave robot and its environments are simulated by virtual reality that enables the operator to feel the actual force feedback from the virtual reality just as she/he would from the real environment.
The haptic virtual system integrates the dynamics of the cutting tool and the virtual environment whereas the handle actuator consists of the dynamics of the handle and the operator in the physical side.
It is shown that the proposed control scheme guarantees global stability of the system, with the output of the cutting tool approaching that of the handle if the ratios of the position and the force are selected.
Experiments for an one dimensional master slave manipulator and a two dimensional master slave manipulator where the slave one is the cutting clay system and is simulated by the virtual reality are used to validate the theoretical developments.
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