Bir Haptik Robot için Arayüz Tasarımı ve Performans Analizi

Öz

Teleoperasyon sistemleri insan-robot etkileşimini sağlayan bir robot teknolojisidir. Haptik robotlar ve ara yüzler kuvveti hissetmemize yarayan, sanal ortamdaki cisimlere dokunma, onları hissetme, kontrol etme ve düzenlemeye imkân veren sistemlerdir. Bilgisayar donanımı ve insan makine arayüzlerinin geliştirilmesiyle, araştırmacılar sanal gerçeklik teknolojisini etkileşimli hareket planlama sistemlerine dahil etmişlerdir. Phantom omni robotun interaktif yol planlaması, doğrulaması ve eğitimi için haptik bir arayüz geliştirilmiştir. Yapılan çalışmada, altı serbestlik dereceli Phantom Omni dokunsal cihaz ile altı serbestlik dereceli sanal slave robot kolu arasındaki yapısal benzerliğe dayanarak, Phantom Omni tarafından yönlendirilen altı DOF sanal robot kolu modellenmiştir. Çalışmada sunulan haptik tabanlı sanal robot ile insan robot etkileşim gerçekleştirilmiştir. Yapılan çalışmalar sonucunda gerçek master robot–sanal  slave robotlar arasinda teleoperasyon ile referans konum , hız ve kuvvet değerleri büyük ölçüde takip ettiği grafiklerde gösterilmistir. Sonuç olarak bu çalışmada görsel arayüz oluşturulmuş ve teleoperasyon ile konum ve hız kontrolü gerçekleştirilmiştir. Performans sonuçları grafiksel olarak verilmiştir ve başarılı olduğu görülmüştür.

Anahtar Kelimeler

• Teleoperasyon,Haptik,Sanal gerçeklik

Interface Design and Performance Analysis for a Haptic Robot

Öz

Teleoperation systems are robot technologies that enable human-robot interaction. Haptic robots and interfaces are systems that allow you to feel, control, and organize objects in virtual environments that do not feel strength. With the development of computer hardware and human machine interfaces, researchers have incorporated virtual reality technology into interactive motion planning systems. Phantom omni robot has developed a haptic interface for interactive road planning verification and training. Based on the structural similarity between the six-degree-of-freedom Phantom Omni tactile device and the six-degree-of-freedom virtual slave robot arm, six DOF virtual robot rods driven by the Phantom Omni were modeled. Human robot interaction with the haptic-based virtual robot presented in the study was realized. As a result of the studies made, it is shown in the graphs that the reference master position, speed and force values are followed in great scale by the actual master robot-virtual slave robot by teleoperation. Consequently, a visual interface was created in this study and the position, velocity, and force control were performed by teleoperation. The performance results were given graphically and were found to be successful.

Anahtar Kelimeler

• Teleoperation,Haptic,Virtual Reality

Kaynakça

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