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Energy-Tank Based TDPC for a Haptic Setup

Snijders, J. (2024) Energy-Tank Based TDPC for a Haptic Setup.

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Abstract:This research creates an energy-tank based Time Domain Passivity Controller (TDPC) for a DIY telemanipulation controller. The energy-tank-based TDPC aims to ensure passivity within the DIY telemanipulation controller by counteracting instability caused by time delays. The following research question was created: How can the energy-tank based method be integrated into the DIY telemanipulation controller kit to maintain system stability by counteracting the adverse effects of time delays? Literature research was done about already existing energytank based TDPCs. Based on this, an analysis was written about the implemented energy-tank based TDPC. The energy-tank based TDPC was tested on a DIY telemanipulation controller created by avatar.report. In these tests, it was found that without the energy-tank based TDPC, the system became unstable with a time delay of 8ms. When implementing the energy-tank based TDPC, the system was able to remain passive for a time delay of 8ms. Furthermore, it was found that there is still room for improvement within the implemented TDPC. This room for improvement is discussed and future recommendations are made. Ultimately, the research question is answered and a successful energy-tank based TDPC is created for a time delay of at least 8ms.
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:53 electrotechnology
Programme:Electrical Engineering BSc (56953)
Link to this item:https://purl.utwente.nl/essays/101281
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