Bilateral teleoperation allows users to interact with objects in remote environments by providing the operator with haptic feedback. In this thesis two control scheme have been implemented in order to guarantee stability and transparency to the system: a position-position control scheme with gravity and passivity compensation and a bilateral force sensorless acceleration control implemented with Kalman filters and disturbance observers. Both methods were tested using two identical Delta robots

Sensorless Haptic Force Feedback for Telemanipulation using two identical Delta Robots

Lazzari, Roberta
2017/2018

Abstract

Bilateral teleoperation allows users to interact with objects in remote environments by providing the operator with haptic feedback. In this thesis two control scheme have been implemented in order to guarantee stability and transparency to the system: a position-position control scheme with gravity and passivity compensation and a bilateral force sensorless acceleration control implemented with Kalman filters and disturbance observers. Both methods were tested using two identical Delta robots
2017-12-11
Telemanipulation, Haptic feedback, Delta robot, acceleration control, kaman filters, DOB
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/20.500.12608/24155