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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