University of Twente Student Theses


Model making and haptic controller design for the ReFlex TakkTile

Meyere, K.P. de (2018) Model making and haptic controller design for the ReFlex TakkTile.

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Abstract:The i-Botics research project is a joint operation between TNO and the University of Twente that focuses on the development of tele-operated Haptic Devices. This research is a part of this group and focuses on the characterization, modeling and conceptual controller design for the ReFlex TakkTile, to be operated using one Degree of Freedom of the Omega 7. This research first identifies the various modes in which the ReFlex TakkTile can operate, and evaluates their potential for telemanipulation scenarios. Through research, the ReFlex TakkTile was thought to be best operated as an Impedance type. Subsequently, a model is made of the ReFlex TakkTile using bond graph elements using force control, which was meant to be used as base of the controller synthesis. The modeling process revealed several more issues with the hardware within the ReFlex TakkTile, and although the model is working and validated, the final conclusion is that the ReFlex TakkTile is best operated using a different control algorithm than was initially suggested. Several controllers were subsequently suggested based on these findings, with the best option being the application of Direct Control, and to stabilize the system using energy based control.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:52 mechanical engineering
Programme:Systems and Control MSc (60359)
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