University of Twente Student Theses


Implementation of a 2D master-slave system

Babakhani, Bayan (2008) Implementation of a 2D master-slave system.

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Abstract:A teleoperator is a device used by humans to remotely interact with either a virtual environment or another device. The device that is used to dene the desired task is called the master and the one performing these tasks is called the slave. Force feedback to the user of a teleoperator can considerably improve the ability to perform complex tasks that interact with the environment. The technology that interfaces an environment to the user using the sense of touch and thus provides force feedback is called haptic technology. The stability of such devices is very crucial as the lack of it can cause unnatural feedback to the operator or even damage the operator and/or the environment. The stability analysis of a haptic device is very challenging due to the complexity and the non-linearity of the environment and dynamics of the human operator. A simple but powerful method to ensure stability is the passivity approach. Passivity is a sucient condition for stability. Passivity examination can be done by monitoring the energy of a system. When looking at a system from the energetic point of view, energy leakage or production can lead to unstable behaviour. During this project a demonstrator for haptic feedback principles has been realized. The Pantograph Mk-II [6] is used for this purpose. The two set-ups in this system both function as master and slave at the same time. On this master-slave system, theories that guarantee passivity can be implemented. An intrinsically passive controller has been implemented that operates in an energy consistent fashion. Simulation and tests have proven that this controller remains stable independent of the sample rate. Furthermore, the scattering formalism has been implemented to keep the haptic system stable despite variable communication delays and loss of data. The system is shown to sustain its stability despite the unreliability of the communication between the devices and low sample frequency. Concluding, this report elaborates on the underlying theory that is used in this project for guaranteeing passivity and thus stability. Next to the theoretical background, the implementation`of an intrinsically passive controller and wave scattering transformation is discussed.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:54 computer science
Programme:Computer Science MSc (60300)
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