Read Books Online and Download eBooks, EPub, PDF, Mobi, Kindle, Text Full Free.
Control Issues Related To Bilateral Teleoperation Of Long Reach Flexible Manipulators
Download Control Issues Related To Bilateral Teleoperation Of Long Reach Flexible Manipulators full books in PDF, epub, and Kindle. Read online Control Issues Related To Bilateral Teleoperation Of Long Reach Flexible Manipulators ebook anywhere anytime directly on your device. Fast Download speed and no annoying ads. We cannot guarantee that every ebooks is available!
Book Synopsis Control Issues Related to Bilateral Teleoperation of Long-reach, Flexible Manipulators by :
Download or read book Control Issues Related to Bilateral Teleoperation of Long-reach, Flexible Manipulators written by and published by . This book was released on 1997 with total page 8 pages. Available in PDF, EPUB and Kindle. Book excerpt: A challenging problem presently being addressed by the Department of Energy (DOE) is the extraction of large volumes of hazardous waste from underground waste storage facilities. The nature of the material requires the use of robotic and teleoperated systems. Furthermore, the constraints of the storage tanks require the use of long reach manipulators. These robots are characterized by their large workspace and reduced mass. Unfortunately, this reduction in mass increases structural compliance, making these robots susceptible to vibration. Until recently, no attempt has been made to provide the operator any type of force reflection due to the compliance of the slave robot. This paper addresses the control of bilateral teleoperation systems that use long-reach, flexible manipulators. Analysis and experiments show that the compliance of the slave robot directly affects the stability of the teleoperation system. This study suggests that this may be controlled by increasing the damping on the master robot. However, this increase in target damping increases the energy an operator must exert during the execution of a task. A new teleoperation strategy adapts the target impedance of the master robot to variations in the identified impedance of the remote environment coupled to the slave robot. Experiments show increased performance due to a decrease in the energy the operator must provide during task execution.
Book Synopsis Control Methods for Seamless Teleoperation Mode Transfer and Emergency Stops Using Long Reach, Flexible Manipulators by : Wayne John Book
Download or read book Control Methods for Seamless Teleoperation Mode Transfer and Emergency Stops Using Long Reach, Flexible Manipulators written by Wayne John Book and published by . This book was released on 1996 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Proceedings of the ANS Seventh Topical Meeting on Robotics and Remote Systems, April 27 to May 1, 1997, Radisson Riverfront Hotel and Conference Center, Augusta, Georgia by :
Download or read book Proceedings of the ANS Seventh Topical Meeting on Robotics and Remote Systems, April 27 to May 1, 1997, Radisson Riverfront Hotel and Conference Center, Augusta, Georgia written by and published by . This book was released on 1997 with total page 644 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Stability, Performance, and Implementation Issues in Bilateral Teleoperation Control and Haptic Simulation Systems by : Amir Haddadi
Download or read book Stability, Performance, and Implementation Issues in Bilateral Teleoperation Control and Haptic Simulation Systems written by Amir Haddadi and published by . This book was released on 2011 with total page 550 pages. Available in PDF, EPUB and Kindle. Book excerpt: Master-Slave teleoperation systems are designed to extend a human's manipulation capability to remote tasks. Recent applications of these systems are in robotic therapy, telesurgery, and medical simulators. In practice, due to the uncertainties in the operator and environment dynamics, and time delay, stability and performance are compromised. Stability-based and performance-based controllers are introduced for these systems. A major class of the former controllers are based on the passivity theory and suffer from the assumed unbounded range of dynamics which is rather unrealistic. The latter class of controllers are mostly adaptive methods that are based on performance optimization. The theme of this thesis is on the development of new stability analysis methods, control strategies, and implementation techniques for enhanced trade-off between stability and performance. I have developed a less conservative passivity-based robust stability method and introduced, for the first time, the notion of Bounded Impedance Absolute Stability. The method provides mathematical and visual aids to incorporate bounds of the passive environment impedance for less conservative guaranteed stability conditions, promising a better compromise between stability and performance. I have extended the new method to include the dynamic range of the human operator for increased stability margins. I have also used the new method to develop a bilateral controller robust to time delays. Furthermore, I have investigated the effect of sampling position versus velocity for various sampling models to obtain less conservative coupled stability conditions for haptic simulation systems. Estimates of the environment dynamics are required to include their variations. Therefore, I have proposed two new real-time parameter estimation methods for linear and nonlinear contacts and experimentally evaluated and compared them with the available techniques. Finally, I have introduced needle insertion as a task in telerobotic systems to combine the expertise of the surgeon with robotic control. Here, the very first few steps needed to effectively control the targeting needles have been taken. I have developed a mechanics-based dynamic model for bevel-tip flexible needles inserted into soft tissues. Finite element models are used to estimate soft tissue deformation, while the mechanics-based model is used to predict needle deflections due to bevel-tip asymmetry.
Book Synopsis Proceedings of the International Topical Meeting on Nuclear and Hazardous Waste Management--Spectrum '94 by :
Download or read book Proceedings of the International Topical Meeting on Nuclear and Hazardous Waste Management--Spectrum '94 written by and published by . This book was released on 1994 with total page 844 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis NONLINEAR ADAPTIVE ROBUST CONTROL FOR BILATERAL TELEOPERATED ROBOTIC MANIPULATORS WITH ARBITRARY TIME DELAYS. by : Moyang Zou
Download or read book NONLINEAR ADAPTIVE ROBUST CONTROL FOR BILATERAL TELEOPERATED ROBOTIC MANIPULATORS WITH ARBITRARY TIME DELAYS. written by Moyang Zou and published by . This book was released on 2017 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Bilateral teleoperation systems have been extensively developed over decades. The communication delay can cause instability and is one of the most challenging control design problems. Additionally, nonlinearity, parameter variation, and uncertainty in the environment dynamics and robot model are also challenging issues that need to be considered in order to achieve excellent control performance. This thesis aims to develop a globally stable nonlinear adaptive robust control structure, dealing with the following problems. Firstly, this new control structure can tolerate arbitrary, long, and time-varying delays. Secondly, in order to ensure excellent tracking performance on both sides, a nonlinear adaptive robust control algorithm is proposed. Lyapunov method is used with stability proof. Thirdly, an environmental torque estimator is designed to estimate unmeasurable torques by a least square adaptive law. Moreover, a novel structure of communication block is developed. From the master side to the slave side, the position signal of the master manipulator is being transmitted. However, from the slave side backwards, only the estimated parameters of the environmental torque are sent back. This structure is designed to enhance the control performance of the adaptive robust controller. To ensure the desired transparency performance, an impedance control structure is developed on the master side. Simulations are carried out to verify the robust stability, excellent transparency and synchronization of the proposed design under arbitrary time-varying delays. Simulation studies on the control gain tuning and model mismatches are carried out in order to verify the effectiveness of the design under different circumstances. Two different control algorithms are also presented to compare with the proposed method. In the last chapter, conclusions and the possible future work are presented.
Book Synopsis Technology for Large Space Systems by :
Download or read book Technology for Large Space Systems written by and published by . This book was released on 1987 with total page 480 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Investigation of Neuromotor Control and Sensory Sampling in Bilateral Teleoperation by : Kevin Michael Corker
Download or read book Investigation of Neuromotor Control and Sensory Sampling in Bilateral Teleoperation written by Kevin Michael Corker and published by . This book was released on 1984 with total page 500 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Dynamic Control Modification Techniques in Teleoperation of a Flexible Manipulator by : David Patrick Magee
Download or read book Dynamic Control Modification Techniques in Teleoperation of a Flexible Manipulator written by David Patrick Magee and published by . This book was released on 1991 with total page 292 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Scientific and Technical Aerospace Reports by :
Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1995 with total page 704 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author :National Aeronautics and Space Administration (NASA) Publisher :Createspace Independent Publishing Platform ISBN 13 :9781722095260 Total Pages :34 pages Book Rating :4.0/5 (952 download)
Book Synopsis Anthropomorphic Teleoperation by : National Aeronautics and Space Administration (NASA)
Download or read book Anthropomorphic Teleoperation written by National Aeronautics and Space Administration (NASA) and published by Createspace Independent Publishing Platform. This book was released on 2018-06-30 with total page 34 pages. Available in PDF, EPUB and Kindle. Book excerpt: A two phase effort was conducted to assess the capabilities and limitations of the DataGlove, a lightweight glove input device that can output signals in real-time based on hand shape, orientation, and movement. The first phase was a period for system integration, checkout, and familiarization in a virtual environment. The second phase was a formal experiment using the DataGlove as input device to control the protoflight manipulator arm (PFMA) - a large telerobotic arm with an 8-ft reach. The first phase was used to explore and understand how the DataGlove functions in a virtual environment, build a virtual PFMA, and consider and select a reasonable teleoperation control methodology. Twelve volunteers (six males and six females) participated in a 2 x 3 (x 2) full-factorial formal experiment using the DataGlove to control the PFMA in a simple retraction, slewing, and insertion task. Two within-subjects variables, time delay (0, 1, and 2 seconds) and PFMA wrist flexibility (rigid/flexible), were manipulated. Gender served as a blocking variable. A main effect of time delay was found for slewing and total task times. Correlations among questionnaire responses, and between questionnaire responses and session mean scores and gender were computed. The experimental data were also compared with data collected in another study that used a six degree-of-freedom handcontroller to control the PFMA in the same task. It was concluded that the DataGlove is a legitimate teleoperations input device that provides a natural, intuitive user interface. From an operational point of view, it compares favorably with other 'standard' telerobotic input devices and should be considered in future trades in teleoperation systems' designs. Hale, J. P., II Marshall Space Flight Center PROJ. 89-06...
Book Synopsis Output Synchronization for Teleoperation of Robot Manipulators by : Patrick Miller
Download or read book Output Synchronization for Teleoperation of Robot Manipulators written by Patrick Miller and published by . This book was released on 2009 with total page 91 pages. Available in PDF, EPUB and Kindle. Book excerpt: With the emergence of innumerable unmanned robotic systems, there is a greater push for a robust and stable means of teleoperated control. Teleoperation is extremely useful in two major ways. First, a remotely control robot may be able to enter an environment which is dangerous or inhabitable by a human operator. This scenario pertains to autonomous vehicle or hazardous waste management applications. Secondly, robot manipulators are capable of detecting and compensating for environmental interactions and making more precise and consistent movements then their human counterparts. This becomes particularly useful robot assisted surgery. In such remote control applications, it is also important to accurately reflect the remote environment back to the human user. This is typically achieved by adding force and torque sensors on the remote system and transmitting force data back to the operator.^This is an ideal form of bilateral control since the sense of touch is significantly more sensitive then the human eye. However, problems arise when transmission delays are introduced into the link between host and remote system. Transmission delays are an unavoidable part of remote communications which are typically compensated by adding physical or virtual compliance into the system. However, this has the deleterious effect on 'transparent' perception of the remote environment. Thus, it is the responsibility of the control algorithm to compensate for delay induced instability while providing a transparent feel to the human operator. Maintaining the stability of the overall teleoperation scheme at a minimal loss of performance is the basis of this thesis. The case-study of telemanipulation of an RR planar manipulator and wheeled mobile robot using the stylus endpoint Phantom Omni haptic device will serve to form our efforts in this thesis.^First and foremost the devices are kinematically and dynamically dissimilar. These couple with the remaining issues of stable teleoperation over lossy, band limited, imperfect communication media to make this a challenging task. To this end we will study the application of a bilateral teleoperation framework developed [1] using nonlinear control and energy based stability theory to overcome some of the limitations. Locally an adaptive controller will identify and stabilize the dynamics of the master and slave systems. This local controller will rendered the dynamics passive to a secondary coupling input. A passive mapping is used to couple the output states of the master and slave systems. This mapping is shown to be insensitive to lossy and delayed communication mediums. A battery of simulations and real time experiments are used to verify the proposed controller.
Book Synopsis Handbook of Industrial Robotics by : Shimon Y. Nof
Download or read book Handbook of Industrial Robotics written by Shimon Y. Nof and published by John Wiley & Sons. This book was released on 1999-03-02 with total page 1388 pages. Available in PDF, EPUB and Kindle. Book excerpt: Industrieroboter gehoren heute zum Alltag. In den letzten zehn Jahren verlagerte sich der Schwerpunkt der Neuentwicklungen weg von den Robotern selbst, hin zu alternativen Formen der kunstlichen Intelligenz, mit denen die Gerate ausgestattet werden. Dem Rechnung tragend, beschaftigt sich die zweite Auflage dieses Handbuchs vor allem mit Anwendungen und Strategien zur Problemlosung in der Industrie. Angesprochen werden Themen wie Graphiksimulatoren, objektorientierte Software, Kommunikationssysteme und Mikro- und Nanoroboter. (04/99)
Book Synopsis Output Synchronization for Teleoperation of Robotic Manipulators by : Patrick Miller
Download or read book Output Synchronization for Teleoperation of Robotic Manipulators written by Patrick Miller and published by LAP Lambert Academic Publishing. This book was released on 2015-03-25 with total page 112 pages. Available in PDF, EPUB and Kindle. Book excerpt: With the emergence of unmanned robotic systems, there is a greater push for a robust and stable means of teleoperated control. Teleoperation is extremely useful in two major ways. First, a remotely control robot may be able to enter an environment which is dangerous or inhabitable by a human operator. This scenario pertains to autonomous vehicle or hazardous waste management applications. Secondly, robot manipulators are capable of detecting and compensating for environmental interactions and making more precise and consistent movements then their human counterparts. Transmission delays are an unavoidable part of remote communications which are typically compensated by adding compliance causing a deleterious effect on 'transparent' perception of the remote environment. Maintaining the stability of the overall teleoperation scheme at a minimal loss of performance is the basis of this text. It studies the application of a bilateral teleoperation framework using a nonlinear control and energy based stability theory to overcome these limitations.
Book Synopsis Diagnosis and Fault-Tolerant Control by : Mogens Blanke
Download or read book Diagnosis and Fault-Tolerant Control written by Mogens Blanke and published by Springer Science & Business Media. This book was released on 2013-03-14 with total page 583 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents model-based analysis and design methods for fault diagnosis and fault-tolerant control. Architectural and structural models are used to analyse the propagation of the fault through the process, test fault detectability and reveal redundancies that can be used to ensure fault tolerance. Case studies demonstrate the methods presented. The second edition includes new material on reconfigurable control, diagnosis of nonlinear systems, and remote diagnosis, plus new examples and updated bibliography.
Download or read book Space Station Systems written by and published by . This book was released on 1986 with total page 606 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Perturbation Techniques for Flexible Manipulators by : Anthony R. Fraser
Download or read book Perturbation Techniques for Flexible Manipulators written by Anthony R. Fraser and published by Springer. This book was released on 2011-09-26 with total page 275 pages. Available in PDF, EPUB and Kindle. Book excerpt: A manipulator, or 'robot', consists of a series of bodies (links) connected by joints to form a spatial mechanism. Usually the links are connected serially to form an open chain. The joints are either revolute (rotary) or prismatic (telescopic), various combinations of the two giving a wide va riety of possible configurations. Motive power is provided by pneumatic, hydraulic or electrical actuation of the joints. The robot arm is distinguished from other active spatial mechanisms by its reprogrammability. Therefore, the controller is integral to any de scription of the arm. In contrast with many other controlled processes (e. g. batch reactors), it is possible to model the dynamics of a ma nipulator very accurately. Unfortunately, for practical arm designs, the resulting models are complex and a considerable amount of research ef fort has gone into improving their numerical efficiency with a view to real time solution [32,41,51,61,77,87,91]. In recent years, improvements in electric motor technology coupled with new designs, such as direct-drive arms, have led to a rapid increase in the speed and load-carrying capabilities of manipulators. However, this has meant that the flexibility of the nominally rigid links has become increasingly significant. Present generation manipulators are limited to a load-carrying capacity of typically 5-10% of their own weight by the requirement of rigidity. For example, the Cincinatti-Milicron T3R3 robot weighs more than 1800 kg but has a maximum payload capacity of 23 kg.
