Bir Haptik Robot için Arayüz Tasarımı ve Performans Analizi

Yıl 2018, Cilt: 6 Sayı: 2, 553 - 560, 24.12.2018

Tayfun Abut Servet Soygüder

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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