| Summary: | 碩士 === 國立成功大學 === 機械工程學系 === 103 === SUMMARY
This thesis proposes a novel bilateral teleoperation system by using only one controller that is collocated with the local robot. Without a controller, the position/velocity signals of the remote robot are transmitted to the central controller over a communication network. In this thesis, the central controller is accomplished by using P- and PD-controllers. By utilizing Lyapunov stability analysis, the sufficient condition for ensuring energy dissipation is obtained so that stability and position tracking are guaranteed when the communication network is subject to constant delays. Since it is possible that time delays change with network status, the stability condition for P-controller with time-varying delays is also studied in this thesis. Moreover, force reflection from the remote environment to the human operator via the local robot is proven to be equal to the environmental force when the teleoperation system is in steady state. The proposed control systems for bilateral teleoperators with single control are validated via numerical simulations and experiments. In order to obtain external forces from the human operator and environment, a simple and low-cost force sensor for PHANToM Omni haptic device is developed in this thesis. After calibration by using simple linear regression, the three-axis force sensor is utilities to record the force information in the experiment.
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