Design and Implementation of Teleoperation Systems with Consensus Algorithm and Wave Variable Method

• Main Authors: Wei Ming Lo, 羅偉銘
• Other Authors: Y. H. Chang
• Format: Others
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/06411961851080881702

碩士 === 長庚大學 === 電機工程學系 === 99 === This thesis presents a modified wave variable method by integrating the traditional wave variable method and consensus algorithm. The proposed control scheme, applied to a bilateral teleoperation system, can effectively improve the influence from wave reflections. In this study, a haptic rendering experimental system is setup, where a CompactRIO embedded control/acquisition system is utilized. Traditional hapic feedback device often has poor reproducibility of experimental outcomes. Thus, a microprocessor based automatic driving mechanism is designed, and a complete bilateral teleoperation system is constructed with the combination of network communication. Compared to traditional wave variable method, experimental results indicate that the proposed modified wave variable method can provide better responses of haptic feedback and position tracking. Also the problem caused from the communication delay between the master and slave devices can be dealt with.