Design and construction of a portable force-reflecting manual controller for teleoperation systems
Master of Science (MS)
First Advisor's Name
First Advisor's Committee Title
Second Advisor's Name
T. C. Yih
Third Advisor's Name
Ibrahim N. Tansel
Date of Defense
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.
Batsomboon, Pattaraphol, "Design and construction of a portable force-reflecting manual controller for teleoperation systems" (1997). FIU Electronic Theses and Dissertations. 1433.
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Degree Discipline: Mechanical Engineering