Force And Position Based Haptic Bilateral Control System For Single Joint Robotic Arms

Haptics applying manipulation of touch sensation with the interaction of computer applications, machines or human touch. However, robots that used haptics’ movement control are set up in lab-range and undevoted to works in substantial way particularly because of size factor and limited workspace. Ma...

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Main Author:	Mansor, Nuratiqa Natrah
Format:	Thesis
Language:	English English
Published:	2019
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.utem.edu.my/id/eprint/24687/1/Force%20And%20Position%20Based%20Haptic%20Bilateral%20Control%20System%20For%20Single%20Joint%20Robotic%20Arms.pdf http://eprints.utem.edu.my/id/eprint/24687/2/Force%20And%20Position%20Based%20Haptic%20Bilateral%20Control%20System%20For%20Single%20Joint%20Robotic%20Arms.pdf
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id	my-utem-ep.24687
record_format	uketd_dc
institution	Universiti Teknikal Malaysia Melaka
collection	UTeM Repository
language	English English
advisor	Jamaluddin, Muhammad Herman
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery Mansor, Nuratiqa Natrah Force And Position Based Haptic Bilateral Control System For Single Joint Robotic Arms
description	Haptics applying manipulation of touch sensation with the interaction of computer applications, machines or human touch. However, robots that used haptics’ movement control are set up in lab-range and undevoted to works in substantial way particularly because of size factor and limited workspace. Majority of invented robot cannot recognize the surfaces textures on the object that they are handling. Application of the common force sensors have a lot of limitations and handicap to the system. There are some uncertainties, instability and delay occurred in the system. This research embarks to design a model of bilateral master-slave haptic system and simulate with controllers of Proportional (P), Proportional-Derivative (PD) and Proportional-Integral-Derivative (PID) also implementation of Disturbance Observer (DOB) and Reaction Force Observer (RFOB). Next, analyze the ability and performance of the proposed controller in terms of position and force reading on single joint. To cut cost and duration, a small, commercial industrial robot is used as mechanism to work with haptic bilateral control system. Additionally, DOB and RFOB managed to transmit vivid force sensation by rejecting disturbance force and attain a robust motion control. Literally, the system is required to adjust according to the target position and compensate the forces earn from surrounding. Observation and study on the feedback of new adaptive design method DOB and RFOB is presented to compare with the conventional controller P, PD, and PID inside a bilateral control system. The performances of the proposed design are measured inside a simulation platform. From experiments, results signified that Kp=5, Kd=0.1 is the best value for PD and Kp=5, Ki=0.001, Kd=0.1 for PID. System employed with observers are more accurate and faster when ωn=50 for Differential Mode and ωn=500 for Common Mode. Apart from that, this research is potential to be apply on surgical robots or manufacturing for industry.
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Mansor, Nuratiqa Natrah
author_facet	Mansor, Nuratiqa Natrah
author_sort	Mansor, Nuratiqa Natrah
title	Force And Position Based Haptic Bilateral Control System For Single Joint Robotic Arms
title_short	Force And Position Based Haptic Bilateral Control System For Single Joint Robotic Arms
title_full	Force And Position Based Haptic Bilateral Control System For Single Joint Robotic Arms
title_fullStr	Force And Position Based Haptic Bilateral Control System For Single Joint Robotic Arms
title_full_unstemmed	Force And Position Based Haptic Bilateral Control System For Single Joint Robotic Arms
title_sort	force and position based haptic bilateral control system for single joint robotic arms
granting_institution	Universiti Teknikal Malaysia Melaka
granting_department	Faculty of Electrical Engineering
publishDate	2019
url	http://eprints.utem.edu.my/id/eprint/24687/1/Force%20And%20Position%20Based%20Haptic%20Bilateral%20Control%20System%20For%20Single%20Joint%20Robotic%20Arms.pdf http://eprints.utem.edu.my/id/eprint/24687/2/Force%20And%20Position%20Based%20Haptic%20Bilateral%20Control%20System%20For%20Single%20Joint%20Robotic%20Arms.pdf
_version_	1747834088712044544
spelling	my-utem-ep.246872021-10-05T09:45:02Z Force And Position Based Haptic Bilateral Control System For Single Joint Robotic Arms 2019 Mansor, Nuratiqa Natrah TJ Mechanical engineering and machinery Haptics applying manipulation of touch sensation with the interaction of computer applications, machines or human touch. However, robots that used haptics’ movement control are set up in lab-range and undevoted to works in substantial way particularly because of size factor and limited workspace. Majority of invented robot cannot recognize the surfaces textures on the object that they are handling. Application of the common force sensors have a lot of limitations and handicap to the system. There are some uncertainties, instability and delay occurred in the system. This research embarks to design a model of bilateral master-slave haptic system and simulate with controllers of Proportional (P), Proportional-Derivative (PD) and Proportional-Integral-Derivative (PID) also implementation of Disturbance Observer (DOB) and Reaction Force Observer (RFOB). Next, analyze the ability and performance of the proposed controller in terms of position and force reading on single joint. To cut cost and duration, a small, commercial industrial robot is used as mechanism to work with haptic bilateral control system. Additionally, DOB and RFOB managed to transmit vivid force sensation by rejecting disturbance force and attain a robust motion control. Literally, the system is required to adjust according to the target position and compensate the forces earn from surrounding. Observation and study on the feedback of new adaptive design method DOB and RFOB is presented to compare with the conventional controller P, PD, and PID inside a bilateral control system. The performances of the proposed design are measured inside a simulation platform. From experiments, results signified that Kp=5, Kd=0.1 is the best value for PD and Kp=5, Ki=0.001, Kd=0.1 for PID. System employed with observers are more accurate and faster when ωn=50 for Differential Mode and ωn=500 for Common Mode. Apart from that, this research is potential to be apply on surgical robots or manufacturing for industry. 2019 Thesis http://eprints.utem.edu.my/id/eprint/24687/ http://eprints.utem.edu.my/id/eprint/24687/1/Force%20And%20Position%20Based%20Haptic%20Bilateral%20Control%20System%20For%20Single%20Joint%20Robotic%20Arms.pdf text en public http://eprints.utem.edu.my/id/eprint/24687/2/Force%20And%20Position%20Based%20Haptic%20Bilateral%20Control%20System%20For%20Single%20Joint%20Robotic%20Arms.pdf text en validuser https://plh.utem.edu.my/cgi-bin/koha/opac-detail.pl?biblionumber=116940 mphil masters Universiti Teknikal Malaysia Melaka Faculty of Electrical Engineering Jamaluddin, Muhammad Herman 1. Abut, T. and Soygüder, S., 2018. Haptic Industrial Robot Control and Bilateral Teleoperation by Using a Virtual Visual Interface. In: 26th Signal Processing and Communications Applications Conference (SIU), Izmir, Turkey, pp. 1-4. 2. Agboh, W. C., Yalcin, M. and Patoglu, V., 2016. 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Force And Position Based Haptic Bilateral Control System For Single Joint Robotic Arms

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