- Cooperative teleoperation systems
- Bacocco, Rita <1972>
Subject
- ING-INF/04 Automatica
Description
- This thesis deals with the studies on the Cooperative Teleoperation Systems. The literature on cooperative teleoperation did not take into account control architectures composed of pairs of wave-based bilateral teleoperators operating in a shared environment. In this work The author two cooperative control schemes based on wave variables by considering two pairs of single-master/single-slave devices collaborating to carry out operations in a shared remote environment are proposed. Such architectures have been validated both with simulations and experimental tests. Ch. 2 introduces a description of the two control architectures proposed and presents some simulation results where the cooperative teleoperation systems evolve in free space and in contact with a stiff wall. In the Ch. 3 some experimental results which confirm the positive results of the control schemes are illustred. Such results have been achieved by using a prototype custom built at Laboratory of Automaiton and Robotics of University of Bologna, which is also illustrated in this chapter. In Ch. 4 the problem of defining proper tools and procedures for an analysis, and possibly a comparison, of the performances of cooperative teleoperation systems is addressed. In particular, a novel generalization of criteria adopted for classical (i.e. one master-one slave) teleoperators is presented and illustrated on the basis of the force-position and the position-position cooperative control schemes proposed in Ch. 2, both from a transparency and stability point of view, and by assuming a null time delay in the communication channel.
Date
- 2011-03-29
Type
- Doctoral Thesis
- PeerReviewed
Format
- application/pdf
Identifier
urn:nbn:it:unibo-2548
Bacocco, Rita (2011) Cooperative teleoperation systems, [Dissertation thesis], Alma Mater Studiorum Università di Bologna. Dottorato di ricerca in Automatica e ricerca operativa