20.500.12556/DKUM-20677 BILATERALNO TELEOPERIRAN KOLESNI MOBILNI ROBOT BILATERAL TELEOPERATED WHEELED MOBILE ROBOT V diplomski nalogi je opisano bilateralno teleoperianje kolesnega mobilnega robota z uporabo aktivne krmilne palice. Krmilna palica služi za daljinsko vodenje mobilnega robota po hitrosti in kot haptični vmesnik. Krmilna palica reproducira silo dotika mobilnega robota z objektom iz okolice. Pri tem ne gre za fizični dotik mobilnega robota z okoljem. Na robotu merimo razdaljo od robota do objekta v okolici. Razdaljo nato transformiramo v virtualno silo dotika. To informacijo krmilna palica posreduje do operaterja. V nalogi je izpeljava robustnega impedančnega vodenja, ki je uporabljena za vodenje mobilnega robota in krmilne palice. Opisan sistem smo tudi preizkusili. V prilogo je dodan eksperiment . The thesis describes a bilateral teleoperated wheeled mobile robot using an active joystick. The joystick is used to remote control the speed of the mobile robot and as the haptic interface. When the mobile robot has contact with an object from his environment, then the joystick reproduces the force of the contact. This is not a physical contact of the mobile robot with an environment. On the robot we measure a distance from the robot to the object in the surrounding area. This distance is then transformed into a virtual contact force. This information is applied to the operator by the joystick. The thesis also describes a robust impedance control scheme, which is used to control the mobile robot and joystick. The described system has also been realized and tested. The experiment was added to the annex. bilateralna teleoperacija impedančno vodenje mobilna robotika haptika bilateral teleoperation impedance control mobile robotics haptics true true false [R. Puško] Slovenski jezik Angleški jezik Diplomsko delo/naloga 2011-09-27 14:32:56 2011-09-29 11:34:00 2022-04-14 08:09:18 2023-12-27 03:21:53 2011 0 Maribor 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 681.51(043.2) 15542806 URN:SI:UM:DK:DHIKMV3Y UNI_Pucko_Rok_2011.pdf UNI_Pucko_Rok_2011.pdf 1 94893F983DDFA6A1CCF25C1AE88C900A a792c494846c1c149da14f1978ecf850fb49b163a89b16235723205db8c6aac2 ad2417da-7c05-11eb-bb7a-00155d0001ca 20.500.12556/dkum/852f6aea-3644-47ca-a7c5-dd07bdcdb726 https://dk.um.si/Dokument.php?lang=slv&id=25861 Fakulteta za elektrotehniko, računalništvo in informatiko 0 0 0