Izboljšanje haptičnega teleoperiranja z uporabo PLL [alfa][beta]-sledilnika

Aleš Hace (Author), Marko Franc (Author)

Abstract

V delu je obravnavano bilateralno teleoperiranje s poudarkom na informaciji o hitrosti. Predstavljen je fazno zaklenjen [alfa beta]-sledilnik (PLL [alfa beta]-sledilnik). Takšen pristop omogoča prednosti pred metodo, ki smo jo predstavili v prejšnjem raziskovalnem delu. Nova metoda omogoča pridobitev zadovoljive informacije o položaju, hitrosti in sili za izvedbo teleoperatorja s haptičnim prikazovalnikom. Glavna prednost predlaganega pristopa je naslovljena na poenostavitev metode in tudi implementacije na digitalnem vezju, npr. vezju FPGA. Takšen namenski haptični prikazovalnik bi lahko bistveno izboljšal operacijo s kirurškim robotom. Predlagan pristop je bil eksperimentalno validiran s preprostim laboratorijskim sistemom 1-DoF za bilateralno teleoperiranje.

Keywords

mehatronika;teleoperiranje;fazno zaklenjen sledilnik;estimacija hitrosti;bilateralno vodenje;haptika;

Data

Language:	Slovenian
Year of publishing:	2013
Typology:	1.01 - Original Scientific Article
Organization:	UM FERI - Faculty of Electrical Engineering and Computer Science
UDC:	681.5
COBISS:	17762070
ISSN:	0013-5852
Views:	742
Downloads:	38
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary abstract:	In this paper, the problem of velocity information in bilateral teleoperation is addressed. An approach using a Phase Locked Loop (PLL) [alpha beta]-tracker is presented. The approach offers some advantages over the method developed in our previous research. It allows obtaining sufficient position, velocity, and force information for teleoperation by using a haptic interface. However, the main advantages of the method are simplification and possible improvements of the FPGA implementation. Such bilateral teleoperation approach with a dedicated haptic interface can significantly improve surgical robotics. The approach was experimentally validated by a simple 1-DoF laboratory bilateral teleoperation system.
Secondary keywords:	mechatronics;teleoperation;phase locked loop;estimation of speed;bilateral teleoperation;haptic;
URN:	URN:NBN:SI
Type (COBISS):	Not categorized
Pages:	str. 147-152
Volume:	ǂLetn. ǂ80
Issue:	ǂšt. ǂ4
Chronology:	2013
ID:	9098102