University of Twente Student Theses
Control and Force Sensing for a DIY at Home Telemanipulation Setup
Bergsma, V.D.C. (2024) Control and Force Sensing for a DIY at Home Telemanipulation Setup.
|
PDF
26MB |
| Abstract: | In this thesis, the quality of the force measurement in the Avatars.Report Do-It-Yourself telemanipulation setup was improved, found to be affected most by physical disturbances, gravity and electromagnetic interference from the motor. Except for intense disturbances, satisfactory attenuation of undesired signals has been achieved with a Least-Mean-Square adaptive filter. This filter matches the noise measured by a ‘dummy’ load-cell (force sensor) to the noise in the ‘active’ load-cell’s measurement. To prevent distortion, basic noise estimation replaces this filter whenever significant force is applied to the handle. Using this improved force measurement, two control architectures were to be implemented. While the 4-channel architecture was not completed, the position-measured force architecture significantly increased the transparency over the existing position-computed force architecture; when interacting with a rigid object and springs, the average force and position tracking errors were reduced by 61.7% and 31.6% respectively. However, due to deviating and temperature-dependent motor constants, these percentages may vary between setups. Finally, the load-cells’ amplifiers were modified to increase their low sampling rate and thereby improve the system’s stability. Due to increased sensor noise that could not be attenuated by the filter, using the modified load-cell amplifiers did not notably improve the system's transparency. |
| Item Type: | Essay (Bachelor) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Subject: | 50 technical science in general, 81 education, teaching |
| Programme: | Electrical Engineering BSc (56953) |
| Link to this item: | https://purl.utwente.nl/essays/100825 |
| Export this item as: | BibTeX EndNote HTML Citation Reference Manager |
Show download statistics for this publication
Show download statistics for this publicationRepository Staff Only: item control page