University of Twente Student Theses
The design and evaluation of a human in the loop control system for the McRobot 3.1
Wal, R. van der (2016) The design and evaluation of a human in the loop control system for the McRobot 3.1.
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| Abstract: | This research report presents how a human in the loop control system can be created for the McRobot using the Omega 6 haptic joystick. In the medical field there is a need of robotic systems that are able to perform operations real-time in the MRI. The McRobot is an attempt to make a MRI-compatible robot, controlled by the Omega 6 joystick. A literature research was performed to learn the state of the art and gather ideas for possible control loop concepts. Some concepts have been chosen and tested with several experiments to build the control loop system. Eventually concept 2 (Equal load of duty system) is chosen to design the final control loop system for the McRobot. From the gathered results can be concluded that the designed system is working. At last, there are some recommendations for the McRobot that will improve the total system. |
| Item Type: | Essay (Bachelor) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Programme: | Electrical Engineering BSc (56953) |
| Link to this item: | https://purl.utwente.nl/essays/93920 |
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