Zaman Gecikmeli İnsan-Makine Etkileşimli Teleoperasyon Sisteminin Kontrolü

Year 2018, Volume: 30 Issue: 1, 193 - 202, 01.03.2018

Tayfun Abut , Servet Soygüder

Abstract

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.

Keywords

Teleoperasyon, Modifiye Edilmiş Dalga Değişken yöntemi, İki Yönlü İki-Kanallı kontrol, Sanal Robot

References

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