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Haptic Enabled Teleoperation Of Hydraulic Manipulators
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Book Synopsis Haptic-enabled Teleoperation of Single-rod Hydraulic Manipulators by : Vikram Banthia
Download or read book Haptic-enabled Teleoperation of Single-rod Hydraulic Manipulators written by Vikram Banthia and published by . This book was released on 2020 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Hydraulically powered machines such as backhoes, excavators, and underwater manipulators are commonly used in industries and require extensive interaction with highly unstructured environments. Proper operation of these machines with manipulator-like implements depends on the ability of human operators who currently use hand controllers to command in response to various circumstances. This approach, known as teleoperation, combines the strength and accuracy of the manipulator with the intelligence of the human operators who normally use visual information, directly or through cameras, to accomplish a task. Providing haptic sensation about the task environment to operators, augments their ability to perform tele-manipulation. The focus of this thesis is thus on enabling a hydraulic manipulator to interact with the environment using the concept of haptic-enabled teleoperation. The application area is towards the utilization of hydraulic manipulators to perform hazardous and/or difficult tasks such as earth-moving, live-line and underwater maintenance activities. Two main issues in teleoperation control are stability and telepresence. The overall closed-loop control system should be stable irrespective of the behavior of the human operator or the task environment. Although the haptic feedback to the master side enables the human operator to rely on his tactile senses, it can make the overall teleoperation system unstable. Teleoperation control of hydraulic manipulators is generally more challenging than that of their electromechanical counterparts, as hydraulic actuators exhibit significant nonlinear characteristics. In this research, a bilateral control scheme has been developed for haptic teleoperation of single-rod hydraulic actuators considering nonlinear dynamics of hydraulic actuation, haptic device, and the human operator. Stability of the complete control system is confirmed theoretically by building a proper Lyapunov function. In terms of telepresence, haptic sensation is provided to the operator based on the position error between the haptic device end-point and the hydraulic actuator implement displacements. Proposed control scheme can be used in a wide variety of applications where the interaction force between the hydraulic actuator and the task environment cannot be measured. The proposed control scheme is easy to implement as it only requires the measurements of the actuator line pressures and displacements of the master and slave. This control scheme is further improved to incorporate base disturbances of single-rod hydraulic actuators. Stability of this controller with an estimated upper value for the base disturbance is analytically proven. Simulation studies are conducted, which confirms that the developed controllers can effectively stabilize the system while interacting with a task environment. They are further tested experimentally on a hydraulic test rig to verify their practicality and effectiveness in real applications.
Book Synopsis Haptic-Enabled Teleoperation of Hydraulic Manipulators by : Kurosh Zarei-nia
Download or read book Haptic-Enabled Teleoperation of Hydraulic Manipulators written by Kurosh Zarei-nia and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Bilateral Control of Base-Excited Hydraulic Manipulators Operating Under a Delayed and Lossy Network by : Yaser Maddahi
Download or read book Bilateral Control of Base-Excited Hydraulic Manipulators Operating Under a Delayed and Lossy Network written by Yaser Maddahi and published by . This book was released on 2014 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Teleoperation -- Haptics -- Hydraulic manipulator -- Wireless communication channel -- Base-excitation -- Force feedback control system.
Book Synopsis Advances in Manufacturing by : Adam Hamrol
Download or read book Advances in Manufacturing written by Adam Hamrol and published by Springer. This book was released on 2017-10-18 with total page 949 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book covers a variety of topics in material, mechanical, and management engineering, especially in the area of machine design, product assembly, measurement systems, process planning and quality control. It describes cutting-edge methods and applications, together with exemplary case studies. The content is based on papers presented at the 5th International Scientific-Technical Conference (MANUFACTURING 2017) held in Poznan, Poland on 24-26 October 2017. The book brings together engineering and economic topics, is intended as an extensive, timely and practice-oriented reference guide for researchers and practitioners, and is expected to foster better communication and closer cooperation between universities and their business and industry partners.
Book Synopsis Cutaneous Haptic Feedback in Robotic Teleoperation by : Claudio Pacchierotti
Download or read book Cutaneous Haptic Feedback in Robotic Teleoperation written by Claudio Pacchierotti and published by Springer. This book was released on 2015-11-06 with total page 157 pages. Available in PDF, EPUB and Kindle. Book excerpt: This work addresses the challenge of providing effective cutaneous haptic feedback in robotic teleoperation, with the objective of achieving the highest degree of transparency whilst guaranteeing the stability of the considered systems. On the one hand, it evaluates teleoperation systems that provide only cutaneous cues to the operator, thus guaranteeing the highest degree of safety. This cutaneous-only approach shows intermediate performance between no force feedback and full haptic feedback provided by a grounded haptic interface, and it is best suitable for those scenarios where the safety of the system is paramount, e.g., robotic surgery. On the other hand, in order to achieve a higher level of performance, this work also investigates novel robotic teleoperation systems with force reflection able to provide mixed cutaneous and kinesthetic cues to the operator. Cutaneous cues can compensate for the temporary reduction of kinesthetic feedback necessary to satisfy certain stability conditions. This state-of-the-art volume is oriented toward researchers, educators, and students who are interested in force feedback techniques for robotic teleoperation, cutaneous device design, cutaneous rendering methods and perception studies, as well as readers from different disciplines who are interested in applying cutaneous haptic technologies and methods to their field of interest.
Book Synopsis Haptic Teleoperation Systems by : Jae-young Lee
Download or read book Haptic Teleoperation Systems written by Jae-young Lee and published by Springer. This book was released on 2015-06-30 with total page 134 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book examines the signal processing perspective in haptic teleoperation systems. This text covers the topics of prediction, estimation, architecture, data compression and error correction that can be applied to haptic teleoperation systems. The authors begin with an overview of haptic teleoperation systems, then look at a Bayesian approach to haptic teleoperation systems. They move onto a discussion of haptic data compression, haptic data digitization and forward error correction.
Book Synopsis Haptic Teleoperation of Mobile-Manipulator Systems Using Virtual Fixtures by : Michael Wrock
Download or read book Haptic Teleoperation of Mobile-Manipulator Systems Using Virtual Fixtures written by Michael Wrock and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Teleoperated Grasping Using an Upgraded Haptic-Enabled Human-Like Robotic Hand and a CyberTouch Glove by : Qi Zhu
Download or read book Teleoperated Grasping Using an Upgraded Haptic-Enabled Human-Like Robotic Hand and a CyberTouch Glove written by Qi Zhu and published by . This book was released on 2020 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Grasping, the skill to hold objects and tools while doing in-hand manipulation, still is in many cases an unsolvable problem for robotics, but a natural act for humans. An efficient grasping requires not only human-like robotic hands with articulated fingers but also tactile, force, and kinesthetic sensors for the precise control of the forces and motions exerted during the manipulation. As a fully autonomous robotic dexterous manipulation is too difficult to develop for changing and unstructured environments, an alternative approach is to combine the low-level robot computer control with the higher-level perception and task planning abilities of a human operator equipped with an adequate human-computer interface (HCI). This thesis presents theoretical and experimental contributions to the development of an upgraded haptic-enabled anthropomorphic Ring Ada dexterous robotic hand and a biology-inspired synergistic real-time control system for teleoperated grasping of different objects using a CyberTouch HCI data glove. A fuzzy logic controller module was developed to efficiently control the underactuated Ring Ada' robotic hand during grasping. A machine learning classification system was developed to recognize grasped objects. Experiments have convincingly demonstrated that our novel Ring Ada robotic hand equipped with kinematic position sensors and touch sensors is able to efficiently grasp different lightweight objects through teleoperation.
Book Synopsis Haptic Feedback of Manipulator Kinematic Conditioning for Teleoperation by : Thavida Maneewarn
Download or read book Haptic Feedback of Manipulator Kinematic Conditioning for Teleoperation written by Thavida Maneewarn and published by . This book was released on 2000 with total page 362 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Passive Teleoperation of Hydraulic Systems by : Kailash Krishnaswamy
Download or read book Passive Teleoperation of Hydraulic Systems written by Kailash Krishnaswamy and published by . This book was released on 2004 with total page 288 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Dynamic Simulation and Control of Teleoperated Heavy-duty Hydraulic Manipulators by : Nariman Sepehri
Download or read book Dynamic Simulation and Control of Teleoperated Heavy-duty Hydraulic Manipulators written by Nariman Sepehri and published by . This book was released on 1990 with total page 326 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Connecting Haptic Interface with Time Delayed Teleoperated Robots by : Kamel Abdelmeguid Kamel
Download or read book Connecting Haptic Interface with Time Delayed Teleoperated Robots written by Kamel Abdelmeguid Kamel and published by . This book was released on 2004 with total page 306 pages. Available in PDF, EPUB and Kindle. Book excerpt: The accuracy and performance of robotic manipulators are crucial to their commercial viability and widespread use in industry. Nowadays, robotic manipulators are required to achieve tasks more than what they were made for. In the past, speed and accuracy of a manipulator were the main focus of researchers. The new robotic evolution is teleoperated haptic devices. This thesis explores the different aspects of internet time delay simulations and their effects on remotely operated manipulators. The thesis also studies the dynamic modeling of the PUMA 560 and SideWinder 2 Joystick with force feedback, and their control interfaces for the purpose of designing and implementing a teleoperated haptic device interface. It is shown that the modeling should not stop at simulating a model, but rather the model should be validated.
Book Synopsis Shared Control of Hydraulic Manipulators to Decrease Cycle Time by : Aaron R. Enes
Download or read book Shared Control of Hydraulic Manipulators to Decrease Cycle Time written by Aaron R. Enes and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis presents a technique termed Blended Shared Control, whereby a human operator's commands are merged with the commands of an electronic agent in real time to control a manipulator. A four degree-of-freedom hydraulic excavator is used as an application example, and two types of models are presented: a fully dynamic model incorporating the actuator and linkage systems suitable for high-fidelity user studies, and a reduced-order velocity-constrained kinematic model amenable for real-time optimization. Intended operator tasks are estimated with a recursive algorithm; the task is optimized in real time; and a command perturbation is computed which, when summed with the operator command, results in a lower task completion time. Experimental results compare Blended Shared Control to other types of controllers including manual control and haptic feedback. Trials indicate that Blended Shared Control decreases task completion time when compared to manual operation.
Book Synopsis Controlling a Passive Haptic Master During Bilateral Teleoperation by : Benjamin Andrew Black
Download or read book Controlling a Passive Haptic Master During Bilateral Teleoperation written by Benjamin Andrew Black and published by . This book was released on 2007 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Haptic devices allow a human to interact physically with a remote or virtual environment by providing tactile feedback to the user. In general haptic devices can be classified in two groups according to the energetic nature of their actuators. Devices using electric motors, pneumatic or hydraulic cylinders or other similar actuators that can add energy to the system are considered "active." Devices using brakes, clutches or other passive actuators are considered "passive" haptic devices. The research presented here focuses on the use of passive haptic devices used during teleoperation, the remote control of a "slave" device by the haptic "master" device. An actuation scheme as well as three different control methods is developed for providing the user with haptic feedback. As a final step, the effectiveness of the controllers is compared to that of a commercially available active haptic device. Twenty subjects provide data that shows the usefulness of the passive device in three typical teleoperation tasks.
Book Synopsis Design of a Haptic Interface for Medical Applications Using Magneto-Rheological Fluid Based Actuators by : Nima Najmaei
Download or read book Design of a Haptic Interface for Medical Applications Using Magneto-Rheological Fluid Based Actuators written by Nima Najmaei and published by . This book was released on 2014 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis reports on the design, construction, and evaluation of a prototype two degrees-of-freedom (DOF) haptic interface, which takes advantage of Magneto-Rheological Fluid (MRF) based clutches for actuation. Haptic information provides important cues in teleoperated systems and enables the user to feel the interaction with a remote or virtual environment during teleoperation. The two main objectives in designing a haptic interface are stability and transparency. Indeed, deficiencies in these factors in haptics-enabled telerobotic systems has the introduction of haptics in medical environments where safety and reliability are prime considerations. An actuator with poor dynamics, high inertia, large size, and heavy weight can significantly undermine the stability and transparency of a teleoperated system. In this work, the potential benefits of MRF-based actuators to the field of haptics in medical applications are studied. Devices developed with such fluids are known to possess superior mechanical characteristics over conventional servo systems. These characteristics significantly contribute to improved stability and transparency of haptic devices. This idea is evaluated and verified through both theoretical and experimental points of view. The design of a small-scale MRF-based clutch, suitable for a multi-DOF haptic interface, is discussed and its performance is compared with conventional servo systems. This design is developed into four prototype clutches. In addition, a closed-loop torque control strategy is presented. The feedback signal used in this control scheme comes from the magnetic field acquired from embedded Hall sensors in the clutch. The controller uses this feedback signal to compensate for the nonlinear behavior using an estimated model, based on Artificial Neural Networks. Such a control strategy eliminates the need for torque sensors for providing feedback signals. The performance of the developed design and the effectiveness of the proposed modeling and control techniques are experimentally validated. Next, a 2-DOF haptic interface based on a distributed antagonistic configuration of MRF-based clutches is constructed for a class of medical applications. This device is incorporated in a master-slave teleoperation setup that is used for applications involving needle insertion and soft-tissue palpation. Phantom and in vitro animal tissue were used to assess the performance of the haptic interface. The results show a great potential of MRF-based actuators for integration in haptic devices for medical interventions that require reliable, safe, accurate, highly transparent, and stable force reflection.
Book Synopsis Impedance Control of a Water Hydraulic Manipulator for Teleoperation Applications by : Albert Raneda
Download or read book Impedance Control of a Water Hydraulic Manipulator for Teleoperation Applications written by Albert Raneda and published by . This book was released on 2004 with total page 144 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Dual 7-Degree-Of-Freedom Robotic Arm Remote Teleoperation Using Haptic Devices by : Yu-Cheng Wang
Download or read book Dual 7-Degree-Of-Freedom Robotic Arm Remote Teleoperation Using Haptic Devices written by Yu-Cheng Wang and published by . This book was released on 2015 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: A teleoperated system of dual redundant manipulator will be controlled in this thesis. The robot used with the dual redundant manipulator in this thesis is Baxter. Baxter's redundant robot arms are 7-degree-of-freedom arms. The problem that will be solved in this thesis is optimization of the 7-degree-of-freedom robot arms. The control algorithm of the 7-degree-of-freedom robot arms will be discussed and built. A simulation program will be built to test the control algorithm. Based on the control algorithm, a teleoperation system will be created for Baxter. The controller used is Omni, which is a six-joint haptic device. Omni will also be used to give force feedback upon collision while the user is controlling the robot. Hence, a collision force feedback system is going to be created and combined with the teleoperation system. The teleoperation system will be tested in common daily applications.
