Document Type

Thesis

Degree

Master of Science

Department

Mechanical Engineering

First Advisor's Name

Dr. Sabri Tosunoglu

First Advisor's Title

Committee Chair

Second Advisor's Name

Dr. Diana Rincon

Second Advisor's Title

Committee Member

Third Advisor's Name

Dr. Ibrahim Nur Tansel

Third Advisor's Title

Committee Member

Keywords

system integration, puligari, force reflecting manual controller, time delay, time delay in teleoperation, chandrasekar, manual controller, teleoperation, reddy, one degree of freedom

Date of Defense

11-22-2004

Abstract

The present research is carried out from the viewpoint of primarily space applications where human lives may be in danger if they are to work under these conditions. This work proposes to develop a one-degree-of-freedom (1-DOF) force-reflecting manual controller (FRMC) prototype for teleoperation, and address the effects of time delays commonly found in space applications where the control is accomplished via the earth-based control stations.

To test the FRMC, a mobile robot (PPRK) and a slider-bar were developed and integrated to the 1-DOF FRMC. The software developed in Visual Basic is able to telecontrol any platform that uses an SV203 controller through the internet and it allows the remote system to send feedback information which may be in the form of visual or force signals. Time delay experiments were conducted on the platform and the effects of time delay on the FRMC system operation have been studied and delineated.

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