Expansion and Implementation of the Wave Variable Method in Multiple Degree-of-Freedom Systems

• Other Authors: Alise, Marc T. (authoraut)
• Format: Others
• Language: English; English
• Published: Florida State University
• Subjects: Electrical engineering; Computer engineering
• Online Access: http://purl.flvc.org/fsu/fd/FSU_migr_etd-0167

Adding force feedback to a teleoperation system can greatly improve a user's ability to complete tasks. However, operating in the presence of time delay can cause serious problems for bilateral teleoperation systems. Even a small amount of time delay in a bilateral teleoperation system will generally degrade the system's performance and can cause instability. An important approach that guarantees stability for any fixed time delay is the wave variable method. In this thesis some recent material dealing with teleoperation systems using wave variables is presented. In particular, we describe a wave variable scheme based on a family of scaling matrices for a multiple degree-of-freedom bilateral teleoperation system. We include a derivation of a larger and more complete family of scaling matrices that will guarantee the system remains stable for a fixed time delay. The validity of the complete family of scaling matrices is verified through simulations and experiments. A multiple degree-of-freedom bilateral teleoperation system using the new wave variable method is simulated using a SIMULINK model. In addition, the new derivation was implemented in hardware using two different systems: an Immersion joystick with a C++ program and a PHANToM Omni haptic device with a virtual environment. Finally, an experiment was constructed using the PHANToM Omni haptic device as both the master and slave of the teleoperation system. Using Matlab and SIMULINK we added time delay to the communication channel and implemented the wave variable method with the complete family of scaling matrices. Human subjects were used to determine the best set of parameters for the system. === A Dissertation submitted to the Department of Electrical and Computer Engineering in partial fulfillment of the requirements for the degree of Doctor of Philosophy. === Degree Awarded: Fall Semester, 2007. === Date of Defense: October 23, 2007. === Teleoperation, Time Delay, Haptics === Includes bibliographical references. === Rodney G. Roberts, Professor Directing Dissertation; Carl Moore, Outside Committee Member; Simon Foo, Committee Member; Daniel Repperger, Committee Member.