Zaman Gecikmeli İnsan-Makine Etkileşimli Teleoperasyon Sisteminin Kontrolü

Yıl 2018, Cilt: 30 Sayı: 1, 193 - 202, 01.03.2018

Tayfun Abut , Servet Soygüder

Öz

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.

Anahtar Kelimeler

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

Kaynakça

• 1. https://www.tubitak.gov.tr/sites/default/files/1003-it-rome-2017-1.pdf 2. Vertut, J., Coiffent, P.:(1985) Teleoperation and Robotics. Evolution and Development. Kopan Page. London. 3. Desbats P, Geffard F, Piolain G and Coudray A (2006). Force-feedback teleoperation of an industrial robot in a nuclear spent fuel reprocessing plant. Industrial Robot: An Int Jnl, Vol 33, No 3, pp 178 - 186 ISSN: 0143-991X. 4. Gang Song and Shuxiang Guo. (2006) Development of a novel tele-rehabilitation system. Proceedings of the 2006 IEEE International Conference on Robotics and Biomimetics, pages 785 -789, December . 5. Abut, T., & Soyguder, S. (2015) Motion control in virtual reality based teleoperation system. In Signal Processing and Communications Applications Conference (SIU), 16- 19 May 23th (pp. 2682-2685). IEEE. 6. M.C. Cavusoglu,(2000) “Telesurgery and Surgical Simulation: Design Modeling, and Evaluation of Haptic Interfaces to Real and Virtual Surgical Environments,” Ph.D. Dissertation, UC at Berkeley, Berkeley, California. 7. Tayfun Abut, Servet Soyguder, (2017) "Real-time control of bilateral teleoperation system with adaptive computed torque method", Industrial Robot: An International Journal, Vol. 44 Issue: 3, pp.299-311, doi: 10.1108/IR-09-2016-0245 8. Kyihwan Park, Byunghoon Bae, Taeoh Koo,(2004) “A haptic device for PC video game application”, Mechatronics, Cilt 14, Sayı 2, Mart , 227-235 9. Hokayem, P. F., Spong, M. W., (2006) , Bilateral Teleoperation: An Historical Survey, Automatica, 42, pp: 2035-2057. 10. Sheridan, T. B., Ferrell, W. R., (1963), Remote Manipulative Control with Transmission Delay, IEEE Transactions on Human Factors in Electronics, 4, 25-29 11. Anderson, R. J., Spong, M. W., (1988), Bilateral Control of Teleoperators with Time Delay, IEEE Conference on Desicion and Control, pp: 167-173. 12. Anderson, R. J., Spong, M. W., (1989a), Asymptotic Stability for Force Reflecting Teleoperators with Time Delay, IEEE International Conference on Robotics and Automation, pp: 1618-1625. 13. Anderson, R. J., Spong, M. W., (1989b), Bilateral Control of Teleoperators with Time Delay, IEEE Transactions on Automatic Control, 34, 5, 494-501. 14. Niemeyer, G., Slotine, J. J. E., (1991a), Stable Adaptive Teleoperation, IEEE Journal of Oceanic Engineering, 16, 1, 152-162. 15. Niemeyer, G., Slotine, J. J. E., (1997a) , Using Wave Variables for System Analysis and Robot Control, Int. Conf. Robotics and Automation, Albuquerque, NM, 1619–1625. 16. Niemeyer, G., Slotine, J. J. E., (1991b), Transient Shaping in Force Reflecting Teleoperation, IEEE International Conference on Advanced Robotics, pp: 261-266. 17. Lozano, R., Chopra, N., Spong, M., (2002), Passivation of Force Reflecting Bilateral Teleoperators with Time Varying Delay, Mechatronics 02, Entschede, The Netherlands, (2002), pp: 24-29. 18. Chopra, N., Spong, S., Hirche, S., Buss, M., (2003), Bilateral Teleoperation Over the Internet: The Time Varying Delay Problem, The American Control Conference, pp: 155-160. 19. Unel M., Sabanovic A. (2010) Zamansal Gecikme Telafili İki Yönlü Kontrol Sistemleri (Bilateral Control Systems with Time Delay Compensation) 106M533-TUBİTAK-NSF . 20. Hazewinkel, M. (Ed.) (2001), “Lagrange equations (in mechanics)”, Encyclopedia of Mathematics, Springer, ISBN 978-1-55608-010-4. 21. Abut, Tayfun, Servet Soygüder, and Hasan Alli. (2014)"Altı Serbestlik Dereceli Haptik Robotun Performans Analizi." Otomatik Türk Milli Komitesi (TOK) Ulusal Toplantısı Kocaeli Üniversitesi 11-13 Eylül , Kocaeli. DOI: 10.13140/RG.2.1.1254.1284 22. Abut, T.,Soyguder, S. ve Alli, H., (2015) Gerçek Zamanlı Altı Serbestlik Dereceli Haptik Bir Robot İle Sanal Robotun Teleoperasyonu , Uluslararası katılımlı 17. Makina Teorisi Sempozyumu / TrC-IFToMM Symposium on Theory of Machines and Mechanisms / UMTS2015 / TrISToMM , 14-17 / 06 / 2015 İzmir Yüksek Teknoloji Üniversitesi - Haziran, İZMİR. 23. Abut T., (2015), Altı Serbestlik Dereceli Haptik Robot ile Teleoperasyon ve Sistem Dinamiği, Yüksek lisan Tezi, Fırat Üniversitesi, Elazıg. 24. D.N.Tuong, M.Seeger, J.Peters (2004)‘Computed Torque Control with Nonparametric Regression Models’ Proceedings of the 2008 American Control Conference (ACC) . 25. Munir, S., & Book, W. J. (2001), Wave-based teleoperation with prediction Proceedings of the American control conference, 2001 (Vol. 6, pp. 4605–4611) IEEE. 26. Alise, M., Roberts, R. G., Repperger, D. W., Moore, C. A., & Tosunoglu, S. (2009). On extending the wave variable method to multiple-DOF teleoperation systems. IEEE/ASME Transactions on Mechatronics, 14(1), 55–63. 27. Munir, S., & Book, W. J. (2002). Internet-based teleoperation using wave variables with prediction. IEEE/ASME Transactions on Mechatronics, 7(2), 124–133. 28. Niemeyer, G., & Slotine, J. J. (1997). Designing force reflecting teleoperators with large time delays to appear as virtual tools. Proceedings of the IEEE international conference on robotics and automation, 1997 (Vol. 3, pp. 2212–2218). IEEE. 29. Chopra, N., Spong, M. W., Ortega, R., & Barabanov, N. E. (2006). On tracking performance in bilateral teleoperation. IEEE Transactions on Robotics, 22(4),861–866. 30. N. Chopra, M.W. Spong, S. Hirche, and M. Buss, (2003)“Bilateral Teleoperation over the Internet: the Time Varying Delay Problem,” Proceedings of the American Control Conference, vol. 1, pp. 155-160. 31. LOZANO, Regelio; CHOPRA, Nikhil; SPONG, Mark W. (2002)Passivation of force reflecting bilateral teleoperators with time varying delay. In: Proceedings of the 8. Mechatronics Forum. p. 954-962. 32. Soyguder, S. and Abut, T. (2016), “Haptic industrial robot control with variable time”, Industrial Robot: AnInternational Journal, Vol. 43 No. 4, pp. 390-402. 33. Dede, M. I. C., Tosunoglu, S., and Repperger, D.,(2004) “A Study on Multiple Degree-of-Freedom Force Reflecting Teleoperation with Constant and Variable Time Delays,” In ASME Southeastern Region XI Technical Journal, Volume 4, April . 34. M.I.C. Dede, and S. Tosunoglu, (2006)“Development of a Real-Time Force- Reflecting Teleoperation System Based on Matlab© Simulations,” in Proceedings of the 19th Florida Conference on Recent Advances in Robotics, Miami, Florida, May 25-26. 35. Dede, M. I. C., and Tosunoglu, S.,(2007) “Control of Teleoperation Systems Experiencing Communication Losses,” International Journal of Advanced Robotic Systems.