Improving performance of a remote robotic teleoperation over the internet

Download

index.pdf

Date

2005

Author

Arslan, Mehmet Selçuk

Metadata

Show full item record

Item Usage Stats

324
views

129
downloads

In this thesis study, it is aimed to improve the performance of an Internet-based teleoperation system enabling the remote operation of a 6 DOF industrial robot. In order to improve the safety and efficiency of the teleoperation, stability and synchronization (hand-eye coordination) are considered. The selected communication medium between the human operator and remote robot is the Internet. The variable time delays and nondeterministic characteristics of the Internet may lead to instability of the teleoperation system. Considering the disturbing effects of the Internet onto the transmission, an event-based control approach is used in order to improve the stability of the teleoperation system. Besides, a visual feedback system is developed and a force-feedback mouse is designed in order to improve synchronization between the human operator and robot during the command generation according to the feedback obtained from the control system. A client-server software application is developed to interface the human operator with remote environment. It is observed that, using the event-based control approach in the operation makes the teleoperation stable and improves the synchronization ability. Implementation of visual feedback and force-feedback mouse to the teleoperation system improves the human operator̕s ability to perform remote operation.

Subject Keywords

Ingenious Mechanisms.

URI

http://etd.lib.metu.edu.tr/upload/12606475/index.pdf
https://hdl.handle.net/11511/15357

Collections

Graduate School of Natural and Applied Sciences, Thesis

Suggestions

OpenMETU
Core

Modular embedded system design / implementation for mechatronic education and research Nursal, Ali Özgü; Koku, Ahmet Buğra; Department of Mechanical Engineering (2007) In this thesis a modular embedded system for Mechatronics education and research is designed and implemented. Four types of control boards are manufactured and related software is developed at board and PC level. A star like topology is used for boards architecture. One bridge board is responsible for handling communication between the PC and all the other boards that are connected independently to that bridge board. For PC communication Universal Seial Bus (USB), for inter peripheral communication serial p...
Electronic packaging and environmental test and analysis of an emi shielded electronic unit for naval platform Devellioğlu, Yücel; Kayran, Altan; Department of Aerospace Engineering (2008) The scope of this thesis is the design and verification of an electronic packaging of a device which is a subunit of a network system that is designed for combat communication in sheltering ship. According to the project requirements this device is subjected to some environmental and electromagnetic interference tests. This thesis includes design and manufacturing steps as well as vibration, shock and thermal analyses. Electromagnetic interference is examined through the design procedure and total shielding...
Design and construction of a folding mechanism for a radar system Yurt, Hünkar Kemal; Turgut, Ali Emre; Department of Mechanical Engineering (2019) In this thesis, a folding mechanism with 1 degrees of freedom is designed and constructed for a two-antenna radar system. The optimum mechanism for the problem is systematically selected among the conceptual mechanism alternatives. Then, a detailed synthesis and analysis study is performed on the selected mechanism, and the mechanism is implemented to the geometry of the radar system. By performing modal and strength analyses on the 3D model of the folding mechanism created during the implementation study, ...
Dynamic performances of kinematically and dynamically adjustable planar mechanisms İyiay, Erdinç; Soylu, Reşit; Department of Mechanical Engineering (2003) In this thesis, the dynamic performances of kinematically and dynamically adjustable planar mechanisms have been investigated. An adjustable mechanism is here defined to be a mechanism where some of the kinematic and/or dynamic parameters are changed in a controlled manner in order to optimize the dynamic behaviour of the mechanism in spite of variable operating conditions. Here, variable operating conditions refer to variable load(s) on the mechanism and/or variable desired input motion. The dynamic behavi...
Experimental evaluation of cable drum systems as linear motion sensors KILIÇ, ERGİN; Dölen, Melik; Koku, Ahmet Buğra (2011-04-15) This study evaluates cable-drum mechanisms as linear motion sensors for certain CNC applications. In this work, the dynamical attributes of a generic device are studied experimentally. The conducted research indicates that despite the significant traction force induced between the cable and its drum, small fluctuations in mechanism's speed yields a considerable (micro) slip at the interface.

Citation Formats

M. S. Arslan, “Improving performance of a remote robotic teleoperation over the internet,” M.S. - Master of Science, Middle East Technical University, 2005.