magistrsko delo
Mitja Golob (Author), Aleš Hace (Mentor), Uroš Župerl (Mentor)

Abstract

V magistrskem delu je opisano bilateralno teleoperiranje robota PARMAN s pomočjo LINPARMAN mehanizma. LINPARMAN mehanizem služi kot haptični vmesnik, s katerim vodimo robota PARMAN po položaju, hkrati pa reproducira silo, ki se pojavi pri dotiku robota PARMAN z objektom iz okolice. V magistrski nalogi so predstavljene osnovne arhitekture bilateralnega vodenja dveh robotskih mehanizmov, predstavljeno pa je tudi robustno impedančno vodenje kot temeljni regulacijski princip za vodenje robotskih mehanizmov v dotiku z okolico. Robotska mehanizma smo povezali v PP bilateralno arhitekturo, fizična povezava pa je izvedena z Ethernetom in TCP/IP protokolom. Obravnavani sistem smo preizkusili tako s simulacijskim modelom, kot tudi eksperimentalno, kar je v magistrskem delu obsežno dokumentirano.

Keywords

bilateralno teleoperiranje;impendačno vodenje;paralelni manipulatorji;robot PARMAN;FPGA;LINPARMAN;

Data

Language: Slovenian
Year of publishing:
Typology: 2.09 - Master's Thesis
Organization: UM FERI - Faculty of Electrical Engineering and Computer Science
Publisher: [M. Golob]
UDC: 621.391:681.5(043.2)
COBISS: 17416726 Link will open in a new window
Views: 1867
Downloads: 258
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Other data

Secondary language: English
Secondary title: BILATERAL TELEOPERATION OF PARMAN ROBOT
Secondary abstract: The Master's thesis describes the bilateral teleoperation of the PARMAN robot by means of the LINPARMAN mechanism. The LINPARMAN mechanism serves as a haptic interface by which the PARMAN robot is controlled along the position and, at the same time, reproduces the force that appears when the PARMAN robot is in contact with an object in its environment. The Master's thesis presents the basic architectures pertaining to bilateral control of two robot mechanisms. It also includes a presentation of robust impedance control as the basic regulation principle related to controlling robot mechanisms in contact with the environment. The two robot mechanisms have been connected into a bilateral PP architecture, whereas a physical connection has been carried out by means of Ethernet and TCP/IP protocol. The system discussed has been tested both by a simulation model as well as in an experimental manner as comprehensively documented in the thesis.
Secondary keywords: parallel manipulator;PARMAN robot;bilateral teleoperation;LINPARMAN;FPGA;
URN: URN:SI:UM:
Type (COBISS): Master's thesis/paper
Thesis comment: Univ. v Mariboru, Fak. za elektrotehniko, računalništvo in informatiko, Mehatronika
Pages: XVIII, 136 str.
ID: 8727352