You are here
Hybrid telemanipulation simulation for mission rehearsal and intervention
| Title: | Hybrid telemanipulation simulation for mission rehearsal and intervention. |
 66 views 29 downloads |
|---|---|---|
| Name(s): |
Agba, Emmanuel I. Florida Atlantic University, Degree grantor Wong, Tin-Lup, Thesis advisor College of Engineering and Computer Science Department of Ocean and Mechanical Engineering |
|
| Type of Resource: | text | |
| Genre: | Electronic Thesis Or Dissertation | |
| Issuance: | monographic | |
| Date Issued: | 1991 | |
| Publisher: | Florida Atlantic University | |
| Place of Publication: | Boca Raton, Fla. | |
| Physical Form: | application/pdf | |
| Extent: | 121 p. | |
| Language(s): | English | |
| Summary: | A "hybrid" telerobotic simulation system that is suitable for telemanipulation rehearsal, operator training, human factors study and operator performance evaluation has been developed. The simulator also has the capabilities for eventual upgrade for supervisory control. It is capable of operation in the conventional rate-control, master/slave control and a data driven preprogrammed mode of operation. It has teach/playback capability which allows an operator to generate joint commands for real time teleoperation. For high-level task execution, the operator selects a specific task from a set of menu options and the simulator automatically generates the required joint commands. The simulator was developed using a three dimensional graphic model of an increasingly popular manipulator, TITAN 7F. A closed-form solution for inverse kinematics of the manipulator was found. Degeneracies from inverse kinematics solutions were observed to exist for certain arm configurations, although the manipulator can physically attain such configurations. An approach based on known facts about the manipulator geometry and physical constraints coupled with heuristics was used to generate physically attainable joint solutions from the inverse kinematics. The conditions that cause solution degeneracy were demonstrated to be related to singularity conditions. A novel object interaction detection strategy was implemented for more realistic telemanipulation. The object detection technique was developed based on the use of superellipsoid, which has a convenient inside-outside function for interference testing. The manipulator, with its end-effector and payloads, if any, were modeled as superquadric ellipsoids. A systematic way of determining transformation matrices between the superquadric manipulator links was developed. The interaction detection technique treats both moving and stationary objects in a consistent manner and has proved to be easy to implement and optimize for real-time applications. The feature has been applied for the simulation of pick-and-place operations and collision detection. It is also used to provide visual feedback as a low-cost force reflection and can be interfaced with a bilateral controller for force reflection simulation. | |
| Identifier: | 12278 (digitool), FADT12278 (IID), fau:9181 (fedora) | |
| Collection: | FAU Electronic Theses and Dissertations Collection | |
| Note(s): |
College of Engineering and Computer Science Thesis (Ph.D.)--Florida Atlantic University, 1991. |
|
| Subject(s): |
Manipulators (Mechanism) Remote control Vehicles, Remotely piloted Remote submersibles |
|
| Held by: | Florida Atlantic University Libraries | |
| Persistent Link to This Record: | http://purl.flvc.org/fcla/dt/12278 | |
| Sublocation: | Digital Library | |
| Use and Reproduction: | Copyright © is held by the author, with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder. | |
| Use and Reproduction: | http://rightsstatements.org/vocab/InC/1.0/ | |
| Host Institution: | FAU | |
| Is Part of Series: | Florida Atlantic University Digital Library Collections. |
