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1

Load Self-Sensing Control Scheme for Telemanipulation - Part 2: Experiment

Saków M., Miądlicki K.

Pomiary Automatyka Robotyka

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2018

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R. 22, nr 1

25--30

EN

The paper presents a novel approach to a control design of bilateral teleoperation systems with force-feedback, dedicated only for a weight sensing. The problem statement, analysis of papers up to date, and the scope of the study are presented. The new control unit for a master-slave system with force-feedback was based on a NARX model. The model was used to subtract a value of force in the force-feedback communication channel that the system might generate during free-motion. The new approach to a control design was validated on a test-stand of a simple rotating pneumatic manipulator arm. The paper presents the modeling procedure of the experimental setup and the model used in the study. Two experiments are described to demonstrate the control unit of the master-slave system with force-feedback.

PL

W artykule przedstawiono podejście do projektowania sterowania dwustronnych systemów zdalnej operacji ze sprzężeniem zwrotnym, przeznaczonym wyłącznie do wykrywania obciążenia. Opis problemu, analiza dotychczasowych osiągnięć badawczych oraz zakres badania zostały zawarte w pracy. Nowy projekt jednostki sterującej dla systemu Master-Slave z siłowym sprzężeniem zwrotnym oparty został na modelu NARX. Model został użyty do odejmowania wartości siły w kanale komunikacyjnym sprzężenia zwrotnego, który jest generowany przez system podczas ruchu swobodnego. Efektywność działania nowego podejścia została potwierdzone na prostym pneumatycznym stanowisku badawczym obrotowego ramienia manipulatora. W pracy przedstawiono procedurę modelowania i konfiguracji eksperymentalnej, a także model zastosowany w układzie sterowania. Opisane są dwa eksperymenty przeprowadzone na układzie sterowania systemu masterslave z siłowym sprzężeniem zwrotnym.

2

Load Self-Sensing Control Scheme for Telemanipulation - Part 1: Theory

Saków M., Miądlicki K.

Pomiary Automatyka Robotyka

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2018

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R. 22, nr 1

19--24

EN

The paper presents a novel approach to a control design of bilateral teleoperation systems with force-feedback dedicated only for a sensor-less weight sensing. The problem statement, analysis of research achievements to date, and the scope of the study are presented. The new design of a control unit for a master-slave system with force-feedback was based on a dynamics inverse model. The model was used to subtract a value of force in the force-feedback communication channel that the system might generate during free-motion. A substantial part of the paper, is focused on a development of a mathematical model covering phenomena occurring in the investigated control scheme.

PL

W artykule przedstawiono nowe podejście do projektowania sterowania dwustronnych systemów teleoperacji z siłowym sprzężeniem zwrotnym, dedykowanym tylko do wykrywania obciążenia w postaci ładunku. Opis problemu, analiza dotychczasowych osiągnięć badawczych oraz zakres badania został zaprezentowany w pracy. Nowy projekt jednostki sterującej dla systemu Master-Slave z siłowym sprzężeniem zwrotnym oparty został na dynamicznym modelu odwrotnym. Model został użyty do odejmowania wartości siły w kanale komunikacyjnym sprzężenia zwrotnego, który może generować system podczas ruchu swobodnego. Ważna część pracy została poświęcona analizie matematycznej obejmującego zjawiska zachodzące w badanym schemacie kontroli.

3

Self-sensing teleoperation system based on 1-dof pneumatic manipulator

Saków M., Miądlicki K., Parus A.

Journal of Automation Mobile Robotics and Intelligent Systems

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2017

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Vol. 11, No. 1

64--76

EN

Paper presents a novel approach to a control design of bilateral teleoperation systems with force-feedback. The problem statement, analysis of research achievements to date, and the scope of the study are presented. The new design of a control unit for a master-slave system with force-feedback is presented on a simple and ideal 1-DOF bilateral teleoperation system. System control unit was based on an inverse model. The model was used to reduce value of force in the force-feedback communication channel, that the system might generate in freemotion. A substantial part of the paper is focused on the development of a mathematical model covering phenomena occurring in the investigated control scheme. The new approach was validated on a test-stand of a rotating non-linear pneumatic manipulator arm. Two linear pneumatic actuators were used in the drive system. The paper presents the modeling procedure of the experimental setup and the model used in the study. Three experiments are described to demonstrate the new control approach to master-slave objects with force-feedback. The paper contains conclusions regarding the control system and the experimental setup.

4

Accessible robots for improving social skills of individuals with autism

Tennyson M. F., Kuester D. A., Casteel J., Nikolopoulos C.

Journal of Artificial Intelligence and Soft Computing Research

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2016

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Vol. 6, No. 4

267--277

EN

This paper reports on an ongoing project between members of the computer science and special education departments of Bradley University and Murray State University, detailing the robotic platforms developed and investigated as a potential tool to improve social interactions among individuals with Autism Spectrum Disorders (ASD). Development of a fourth generation robotic agent is described, which uses economically available robotic platforms (Lego NXT) as Socially Assistive Robotics (SAR), combined with direct instruction pedagogy and social scripts to support an alternative educational approach to teaching social behavior. Specifically, in this fourth generation, changes to the physical design of the robots were made to improve the maintainability, reliability, maneuverability, and aesthetics of the robots. The software architecture was designed for modularity, configurability, and reusability of the software.

5

Telerobotic technologies in e-learning

Baczyński J., Baczyński M.

Information Systems in Management

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2013

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Vol. 2, No. 3

171--181

EN

Today, e-learning methods and techniques are commonly used. In the Internet age they mainly employ different standard forms of the transfer of text and audiovideo streams. However, there are disciplines where the education process cannot be realized by means of the standard e-learning technologies, e.g. physics, chemistry or other practical educational courses. The education process requires on-site presence, e.g. in specialist labs. The telerobotic technologies can allow e-learning for the courses including practical training. We have adapted a few types of the robotic manipulators to can use them for e-learning. Herein, we also present control systems and software developed by us for this idea. The presented works include the most sophisticated haptic equippment also.