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Title:
BILATERALNO TELEOPERIRAN KOLESNI MOBILNI ROBOT
Authors:
ID
Pučko, Rok
(
Author
)
ID
Hace, Aleš
(
Mentor
)
More about this mentor...
Files:
UNI_Pucko_Rok_2011.pdf
(5,62 MB)
MD5: 94893F983DDFA6A1CCF25C1AE88C900A
PID:
20.500.12556/dkum/852f6aea-3644-47ca-a7c5-dd07bdcdb726
Language:
Slovenian
Work type:
Bachelor thesis/paper
Organization:
FERI - Faculty of Electrical Engineering and Computer Science
Abstract:
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 .
Keywords:
bilateralna teleoperacija
,
impedančno vodenje
,
mobilna robotika
,
haptika
Place of publishing:
Maribor
Publisher:
[R. Puško]
Year of publishing:
2011
PID:
20.500.12556/DKUM-20677
UDC:
681.51(043.2)
COBISS.SI-ID:
15542806
NUK URN:
URN:SI:UM:DK:DHIKMV3Y
Publication date in DKUM:
29.09.2011
Views:
2180
Downloads:
239
Metadata:
Categories:
KTFMB - FERI
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Secondary language
Language:
English
Title:
BILATERAL TELEOPERATED WHEELED MOBILE ROBOT
Abstract:
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.
Keywords:
bilateral teleoperation
,
impedance control
,
mobile robotics
,
haptics
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