University of Twente Student Theses
Extending an Isotropic Virtual Environment Model with Geometrical Information in Model-Mediated Teleoperation
Walt, Christophe van der (2020) Extending an Isotropic Virtual Environment Model with Geometrical Information in Model-Mediated Teleoperation.
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| Abstract: | Haptic Teleoperation is a means of performing tasks that require human levels of dexterity without a human needing to be present. This has a plethora of applications in various industries. However, time delay poses certain problems, notably with dynamic stability, in a lot of these systems. Model Mediated Teleoperation (MMT) techniques provide a means of mitigating energy creation in time-delayed communication channels. MMT techniques in literature either estimate geometric or dynamic properties of the environment. This paper proposes a system that estimates both kinds of properties to render force for a environment consisting of a flexible object on a table. We obtained promising results, but inaccuracies in high-frequency performance and in dealing with environmental inhomogeneity require further study. |
| Item Type: | Essay (Master) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Subject: | 01 general works |
| Programme: | Systems and Control MSc (60359) |
| Link to this item: | https://purl.utwente.nl/essays/85051 |
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