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 robotsFile in questo prodotto:
File | Dimensione | Formato | |
---|---|---|---|
tesi_Lazzari_Roberta.pdf
accesso aperto
Dimensione
18.94 MB
Formato
Adobe PDF
|
18.94 MB | Adobe PDF | Visualizza/Apri |
The text of this website © Università degli studi di Padova. Full Text are published under a non-exclusive license. Metadata are under a CC0 License
Utilizza questo identificativo per citare o creare un link a questo documento:
https://hdl.handle.net/20.500.12608/24155