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Bi-directional impedance reflection for Cartesian space telemanipulation control to reduce the effect of time delay

Lieftink, R.J. (2020) Bi-directional impedance reflection for Cartesian space telemanipulation control to reduce the effect of time delay.

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Abstract:To increase the effectiveness in the field of telerobotics, the robot must feel like a natural extension of the human body. This can be achieved by providing the operator with force feedback. However, due to time delays, the system becomes less transparent or even unstable. In this research, a bi-directional impedance reflection controller has been designed to overcome the negative effects of time delay. In this method, the impedance of the operator and the environment is estimated and reflected. A trajectory predictor is added to compensate for the delayed motion. The task effectiveness of the designed system is evaluated by performing a user study. Here, three controllers are compared: classical bilateral impedance control, classical bilateral impedance control with passivity layers and the new designed bi-directional impedance reflection technique. This study showed that, under time delays, the user experience is better with the newly designed controller.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:53 electrotechnology
Programme:Electrical Engineering MSc (60353)
Link to this item:http://purl.utwente.nl/essays/83096
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