Zaman Gecikmeli İnsan-Makine Etkileşimli Teleoperasyon Sisteminin Kontrolü

Teleoperasyon kullanıcı tarafından robotların veya nesnelerin hareket ettirilmesi ve karşılıklı etkileşime geçilmesi olarak tanımlanmaktadır. Teleoperasyon sistemlerinde genellikle iletişim gecikmeleri meydana gelmektedir ve bu gecikmeler sistemlerin performansını etkilemektedir. Bu çalışmada iki yönlü iki kanallı teleoperasyon sisteminde meydana gelen değişken zaman gecikmesi probleminin telafisi için modifiye edilmiş dalga değişkenleri (wave variables) yöntemi kullanılmıştır. İki yönlü iki kanallı teleoperasyon sisteminde konum ve kuvvet kontrolü gerçekleştirilmiştir. Bu çalışmada ana (master) robot olarak Phantom Omni haptik ve bağımlı (slave) robot olarak sanal ortamda tasarlanan üç boyutlu sanal robot kullanılmıştır. Kullanıcıya görsel geri besleme sağlamak için bir görsel arayüz tasarlanmıştır. Sonuç olarak yapılan bu çalışmada değişken zaman gecikmesi varlığında iki yönlü iki kanallı konum ve kuvvet kontrolü gerçekleştirilmiş, benzetim ve gerçek zamanlı uygulamalar yapılmış ve sonuçlar elde edilmiştir.

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