Force-Reflected Bilateral Teleoperation of a Hydraulic Manipulator
Lampinen, Santeri (2017)
2017
Automaatiotekniikka
Teknisten tieteiden tiedekunta - Faculty of Engineering Sciences
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Hyväksymispäivämäärä
2017-12-07
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:tty-201711232244
https://urn.fi/URN:NBN:fi:tty-201711232244
Tiivistelmä
Teleoperation has been under study from the mid 1940s, when the first mechanical master-slave manipulators were built to allow safe handling of nuclear material within a hot cell. Since then, need to operate within dangerous, out of reach, uncomfortable, or hazardous environments has then motivated researchers to study teleoperation further.
In this thesis, teleoperation of a hydraulic manipulator with electrically driven master manipulator was studied. The workspace of the hydraulic slave manipulator is 5 m in height and it can reach 3 m. The master manipulator has a workspace approximating full arm movement pivoting at the shoulder. Further, the slave manipulator is capable of lifting over 1000 kg, while the master manipulator can lift only 2 kg.
Objective of this thesis is to implement virtual decomposition control (VDC) type controller to the master manipulator and create communication channel for the two manipulators. The VDC approach is a subsystem model based feedforward controller. Similar controller for the slave manipulator has been implemented previously. Performance of the developed teleoperation system will be evaluated with experimental implementation measuring the free space motion tracking in two degrees of freedom motion.
Results from the experimental implementation indicate accurate motion tracking between the two manipulators. Experimental results indicate less than 15 mm position error between the two manipulators, which considering the size of the HIAB can be considered promising.
In this thesis, teleoperation of a hydraulic manipulator with electrically driven master manipulator was studied. The workspace of the hydraulic slave manipulator is 5 m in height and it can reach 3 m. The master manipulator has a workspace approximating full arm movement pivoting at the shoulder. Further, the slave manipulator is capable of lifting over 1000 kg, while the master manipulator can lift only 2 kg.
Objective of this thesis is to implement virtual decomposition control (VDC) type controller to the master manipulator and create communication channel for the two manipulators. The VDC approach is a subsystem model based feedforward controller. Similar controller for the slave manipulator has been implemented previously. Performance of the developed teleoperation system will be evaluated with experimental implementation measuring the free space motion tracking in two degrees of freedom motion.
Results from the experimental implementation indicate accurate motion tracking between the two manipulators. Experimental results indicate less than 15 mm position error between the two manipulators, which considering the size of the HIAB can be considered promising.