Haptic teleoperation with impedance control based on learned inverse dynamics with application in homecare robotics
department or school: Applied Science, Faculty of
department or school: Mechanical Engineering, Department of
data provider: DSpace
degree campus: UBCV
creator: Tufail, Muhammad
issued: 2015-12-16T19:39:35Z
issued: 2015
related degree: Doctor of Philosophy - PhD
degree grantor: University of British Columbia
description: Bilateral teleoperation allows a human operator to interact with a remote environment using the superior actuation and sensing skills of a robot and the unmatched cognitive skills of a human operator. It has shown promising results in applications such as telemedicine, telesurgery, and access to hazardous or remote environments. In all of these applications, the robot has to co-exist with humans and other delicate objects in the environment and therefore has to behave in a compliant (“soft”) manner. Moreover, in order to improve the task performance, the interaction force must be fed back to the operator to feel. In this backdrop, the present thesis focuses on the application of bilateral teleoperation in a homecare environment. In view of the underlying challenges involved with bilateral teleoperation, this dissertation focuses on the development of a complete teleoperation system that can effectively perform in real-time. A primary objective here is to use the impedance control approach to design local controllers for master and slave manipulators where the dynamic relationship between the applied forces and the resulting positions of the manipulators during interaction, is controlled. Impedance control requires the identification of the robot inverse dynamic model that can be computed in real-time and can adapt to changes in the actual dynamics of the robot. A complete data-driven learning-based technique called Locally Weighted Projection Regression (LWPR) is therefore used, which does not assume any a-priori knowledge of the inertial parameters of the robot. Performance of the system is improved by using online estimation of impedance of the unknown environment with which the slave manipulator interacts. A method of admittance control is designed. This method overcomes the shortcomings of the standard impedance control, as observed during experimentation. In the end, a method is developed to improve the transparency and position synchronization of the popular a…
aggregated CHO: https://circle.library.ubc.ca/rest/handle/2429/55896
note: Haptic Teleoperation with Impedance Control based on Learned Inverse Dynamics with Application in Homecare Robotics by Muhammad Tufail M.A.Sc., Asian Institute of Technology, Thailand, 2007 B.Sc., University of Engineering and Technology, Pakistan, 2004 A THESIS SUBMITTED IN PARTIAL FULFILLMENT OF THE REQUIREMENTS FOR THE DEGREE OF DOCTOR OF PHILOSOPHY in THE FACULTY OF GRADUATE AND POSTDOCTORAL STUDIES (Mechanical Engineering) THE UNIVERSITY OF BRITISH COLUMBIA (Vancouver) December 2015 © Muhammad Tufail, 2015ii Abstract Bilateral teleoperation allows a human operator to interact with a remote environment using the superior actuation and sensing skills of a robot and the unmatched cognitive skills of a human operator. It has shown promising results in applications such as telemedicine, telesurgery, and access to hazardous or remote environments. In all of these applications, the robot has to co-exist with humans and other delicate objects in the environment and therefore has to behave in a compliant (“soft”) manner. Moreover, in order to improve the task performance, the interaction force must be fed back to the operator to feel. In this backdrop, the present thesis focuses on the application of bilateral teleoperation in a homecare environment. In view of the underlying challenges involved with bilateral teleoperation, this dissertation focuses on the development of a complete teleoperation system that can effectively perform in real-time. A primary objective here is to use the impedance control approach to design local controllers for master and slave manipulators where the dynamic relationship between the applied forces and the resulting positions of the manipulators during interaction, is controlled. Impedance control requires the identification of the robot inverse dynamic model that can be computed in real-time and can adapt to changes in the actual dynamics of the robot. A complete data-driven learning-based technique called Locally Weighted Projection Regre…
has type: Thesis/Dissertation
date issued: 2016-02
is shown at: 10.14288/1.0221394
language: eng
degree discipline: Mechanical Engineering
provider: Vancouver : University of British Columbia Library
publisher: University of British Columbia
rights: Attribution-NonCommercial-NoDerivs 2.5 Canada
rights URI: http://creativecommons.org/licenses/by-nc-nd/2.5/ca/
scholar level: Graduate
type: Text
identifier URI: http://hdl.handle.net/2429/55896