Document Type

Thesis

Degree

Master of Science (MS)

Major/Program

Mechanical Engineering

First Advisor's Name

Sabri Tosunoglu

First Advisor's Committee Title

Committee Chair

Second Advisor's Name

T. C. Yih

Third Advisor's Name

Ibrahim N. Tansel

Date of Defense

11-21-1997

Abstract

A man-machine system called teleoperator system has been developed to work in hazardous environments such as nuclear reactor plants. Force reflection is a type of force feedback in which forces experienced by the remote manipulator are fed back to the manual controller. In a force-reflecting teleoperation system, the operator uses the manual controller to direct the remote manipulator and receives visual information from a video image and/or graphical animation on the computer screen.

This thesis presents the design of a portable Force-Reflecting Manual Controller (FRMC) for the teleoperation of tasks such as hazardous material handling, waste cleanup, and space-related operations. The work consists of the design and construction of a prototype 1-Degree-of-Freedom (DOF) FRMC, the development of the Graphical

User Interface (GUI), and system integration. Two control strategies - PID and fuzzy logic controllers are developed and experimentally tested. The system response of each is analyzed and evaluated. In addition, the concept of a telesensation system is introduced, and a variety of design alternatives of a 3-DOF FRMC are proposed for future development.

Identifier

FI14050457

Comments

Degree Discipline: Mechanical Engineering

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