Document Type

Thesis

Degree

Master of Science (MS)

Department

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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