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Title: DESIGN AND CONSTRUCTION OF A FORCE-REFLECTING TELEOPERATION SYSTEM

Abstract

For certain applications, such as space servicing, undersea operations, and hazardous material handling tasks in nuclear reactors, the environments can be uncertain, complex, and hazardous. Lives may be in danger if humans were to work under these conditions. As a result, a man-machine system--a teleoperator system--has been developed to work in these types of environments. In a typical teleoperator system, the actual system operates at a remote site; the operator located away from this system usually receives visual information from a video image and/or graphical animation on the computer screen. Additional feedback, such as aural and force information, can significantly enhance performance of the system. Force reflection is a type of feedback in which forces experienced by the remote manipulator are fed back to the manual controller. Various control methods have been proposed for implementation on a teleoperator system. In order to examine different control schemes, a one Degree-Of-Freedom (DOF) Force-Reflecting Manual Controller (FRMC) is constructed and integrated into a PC. The system parameters are identified and constructed as a mathematical model. The Proportional-Integral-Derivative (PID) and fuzzy logic controllers are developed and tested experimentally. Numerical simulation results obtained from the mathematical model are compared with those of experimental data formore » both types of controllers. In addition, the concept of a telesensation system is introduced. A telesensation system is an advanced teleoperator system that attempts to provide the operator with sensory feedback. In this context, a telesensation system integrates the use of a Virtual Reality (VR) unit, FRMC, and Graphical User Interface (GUI). The VR unit is used to provide the operator with a 3-D visual effect. Various commercial VR units are reviewed and features compared for use in a telesensation system. As for the FRMC, the conceptual design of a 3-DOF FRMC is developed in an effort to make the system portable, compact, and lightweight. A variety of design alternatives are presented and evaluated. Finally, a GUI software package is developed to interface with several teleoperation unit components. These components include an industrial robot, electric motor, encoder, force/torque sensor, and CCD camera. The software includes features such as position scaling, force scaling, and rereferencing and is intended to provide a sound basis for the development of a multi-DOF FRMC system in the future.« less

Authors:
Publication Date:
Research Org.:
Federal Energy Technology Center Morgantown (FETC-MGN), Morgantown, WV (United States); Federal Energy Technology Center Pittsburgh (FETC-PGH), Pittsburgh, PA (United States)
Sponsoring Org.:
US Department of Energy (US)
OSTI Identifier:
772517
Report Number(s):
DE-FG01-95EW55094-65
TRN: US0103044
DOE Contract Number:  
FG01-95EW55094; FG21-95EW55094
Resource Type:
Technical Report
Resource Relation:
Other Information: PBD: 1 Jan 1999
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; DESIGN; CONSTRUCTION; REMOTE HANDLING EQUIPMENT; MAN-MACHINE SYSTEMS; HAZARDOUS MATERIALS; FEEDBACK; FUZZY LOGIC; MANIPULATORS; REMOTE VIEWING EQUIPMENT

Citation Formats

M A Ebadian, Ph D. DESIGN AND CONSTRUCTION OF A FORCE-REFLECTING TELEOPERATION SYSTEM. United States: N. p., 1999. Web. doi:10.2172/772517.
M A Ebadian, Ph D. DESIGN AND CONSTRUCTION OF A FORCE-REFLECTING TELEOPERATION SYSTEM. United States. https://doi.org/10.2172/772517
M A Ebadian, Ph D. 1999. "DESIGN AND CONSTRUCTION OF A FORCE-REFLECTING TELEOPERATION SYSTEM". United States. https://doi.org/10.2172/772517. https://www.osti.gov/servlets/purl/772517.
@article{osti_772517,
title = {DESIGN AND CONSTRUCTION OF A FORCE-REFLECTING TELEOPERATION SYSTEM},
author = {M A Ebadian, Ph D},
abstractNote = {For certain applications, such as space servicing, undersea operations, and hazardous material handling tasks in nuclear reactors, the environments can be uncertain, complex, and hazardous. Lives may be in danger if humans were to work under these conditions. As a result, a man-machine system--a teleoperator system--has been developed to work in these types of environments. In a typical teleoperator system, the actual system operates at a remote site; the operator located away from this system usually receives visual information from a video image and/or graphical animation on the computer screen. Additional feedback, such as aural and force information, can significantly enhance performance of the system. Force reflection is a type of feedback in which forces experienced by the remote manipulator are fed back to the manual controller. Various control methods have been proposed for implementation on a teleoperator system. In order to examine different control schemes, a one Degree-Of-Freedom (DOF) Force-Reflecting Manual Controller (FRMC) is constructed and integrated into a PC. The system parameters are identified and constructed as a mathematical model. The Proportional-Integral-Derivative (PID) and fuzzy logic controllers are developed and tested experimentally. Numerical simulation results obtained from the mathematical model are compared with those of experimental data for both types of controllers. In addition, the concept of a telesensation system is introduced. A telesensation system is an advanced teleoperator system that attempts to provide the operator with sensory feedback. In this context, a telesensation system integrates the use of a Virtual Reality (VR) unit, FRMC, and Graphical User Interface (GUI). The VR unit is used to provide the operator with a 3-D visual effect. Various commercial VR units are reviewed and features compared for use in a telesensation system. As for the FRMC, the conceptual design of a 3-DOF FRMC is developed in an effort to make the system portable, compact, and lightweight. A variety of design alternatives are presented and evaluated. Finally, a GUI software package is developed to interface with several teleoperation unit components. These components include an industrial robot, electric motor, encoder, force/torque sensor, and CCD camera. The software includes features such as position scaling, force scaling, and rereferencing and is intended to provide a sound basis for the development of a multi-DOF FRMC system in the future.},
doi = {10.2172/772517},
url = {https://www.osti.gov/biblio/772517}, journal = {},
number = ,
volume = ,
place = {United States},
year = {1999},
month = {1}
}