Naslov
Bilateralno daljinsko vođenje sustava u prostoru valnih varijabli
(The bilateral teleoperation in the space of wave variables)

Autori
Grđan, Matija

Vrsta, podvrsta i kategorija rada
Ocjenski radovi, diplomski rad

Fakultet
Fakultet elektrotehnike i računarstva

Mjesto
Zagreb

Datum
20.09

Godina
2005

Stranica
66

Mentor
Petrović, Ivan

Neposredni voditelj
Petrović, Ivan

Ključne riječi
Bilateralno daljinsko vođenje; vremensko kašnjenje; valne varijable; valni prediktor; Kalmanov filtar; povratna veza po poziciji; valni integral
(Bilateral teleoperation; variable time delay; wave variables; wave predictor; Kalman filter; position feedback; wave integral)

Sažetak
The bilateral teleoperation in the space of wave variables is the topic of the thesis. Basic structure of bilateral teleoperation is analysed in the second chapter. It has been proven that bilateral teleoperation system becomes unstable due to time delay in communication channel. We can assure the stability of system by introducing the wave variables. Waves variables present a modification by which the passivity of the system is ensured. As a result, system becomes robust to arbitrary time delays in communication channel. By using the wave variables, system became stabile but from the other side, the quality of control is degraded. Use of the wave predictor in the space of wave variables, gives better quality control, especially in the case of manipulator interaction with unknown environment or in the case of variable time delay. Predictor is based on Kalman filter estimation of internal state variables (on the slave's side). To guarantee a good tracking between master and slave manipulator, additional position feedback is required. Two solutions of this problem have been developed. First, we may transmit the wave integrals addition to wave signal. These integrals contain position information and can be constructed directly from position measurements. Second solution adds corrective term to the actual wave command in response to any observed drift between the two manipulators. Second method is better because it can be implemented with wave predictor.

Izvorni jezik
Hrvatski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA