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Development and implementation of a telerobotic system with video and haptic feedback
Thesis (MScEng)--Stellenbosch University, 2012.
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| Format: | Thesis |
| Language: | en_ZA |
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Stellenbosch : Stellenbosch University
2012
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| _version_ | 1867613925351096320 |
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| access_status_str | Open Access |
| author | Pretorius, Johnathan |
| author2 | Van der Merwe, A. F. |
| author_browse | Pretorius, Johnathan Van der Merwe, A. F. |
| author_facet | Van der Merwe, A. F. Pretorius, Johnathan |
| author_sort | Pretorius, Johnathan |
| collection | Thesis |
| dc_rights_str_mv | Stellenbosch University |
| description | Thesis (MScEng)--Stellenbosch University, 2012. |
| format | Thesis |
| id | oai:scholar.sun.ac.za:10019.1/20059 |
| institution | Stellenbosch University (South Africa) |
| language | en_ZA |
| last_indexed | 2026-06-10T12:43:53.285Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from SUNScholar — Stellenbosch University Repository |
| publishDate | 2012 |
| publishDateRange | 2012 |
| publishDateSort | 2012 |
| publisher | Stellenbosch : Stellenbosch University |
| publisherStr | Stellenbosch : Stellenbosch University |
| record_format | dspace |
| source_str | SUNScholar — Stellenbosch University Repository |
| spelling | oai:scholar.sun.ac.za:10019.1/20059 Development and implementation of a telerobotic system with video and haptic feedback Pretorius, Johnathan Van der Merwe, A. F. Stellenbosch University. Faculty of Engineering. Dept. of Industrial Engineering. Telerobotics Haptics Motoman Robots Force feedback Control Dissertations -- Industrial engineering Theses -- Industrial engineering Thesis (MScEng)--Stellenbosch University, 2012. ENGLISH ABSTRACT: Telerobotics is a field of robotics interested in controlling robots from a distance. Incorporating visual and haptic (touch) feedback allows the operator greater accuracy in manipulating objects in a remote environment. This project endeavours to develop a telerobotic system by using two similar industrial robotic manipulators, one acting as a haptic input device (known as the Master), the other as the telerobot (known as the Slave). This project makes use of a diverse range of technologies to achieve a telerobotic system. As such it makes use of Systems Engineering and Technology Management principles to guide the development process of converting standard industrial robots into a telerobotic system that allows the operator to “see” and “feel” in the remote environment. The ability of the robot to perceive touch is accomplished by incorporating a multi-axis force and torque sensor to both industrial robots to measure any applied force or torque acting on each robot’s end-effector. A communication system is developed that receives the force and torque readings from each sensor as well as transmit the robot instructions to both Master and Slave. Haptic feedback is achieved by combining the force and torque readings from both sensors within a control system before manipulating the data into a robot instruction that is used to control both Master and Slave. Testing of the developed telerobotic system indicates that a functional system has been developed. However, several issues were identified that limit the control capabilities the operator has over the Slave and as such could lead to safety concerns. AFRIKAANSE OPSOMMING: Telerobotika is ’n veld van robotika wat belangstel in die beheer van robotte oor ’n afstand. Die insluiting van visuele en hapties (voel) terugvoer stel die operateur instaat om voorwerpe in ’n afgeleë omgewing met hoër akkuraatheid te manipuleer. Hierdie projek streef daarna om ’n telerobotiese stelsel te ontwikkel deur gebruik te maak van twee soortgelyke industriële robot manipuleerders, een wat optree as ’n meganiese invoer toestelle (bekend as die Meester), die ander as die telerobot (bekend as die Slaaf). Hierdie projek maak gebruik van ’n verskeidenheid van tegnologieë om ’n telerobotiese stelsel te ontwikkel. Sodanig word tegnologie bestuur en stelsels ingenieurswese beginsels deur die loop van die projek geïmplementeer om die ontwikkelings proses te lei - van standaard industriële robotte tot ’n telerobotiese stelsel wat dit moontlik maak vir die operateur om te “sien” en “voel” in ’n afgeleë omgewing. Die robot se vermoë om fisiese kontak te ervaar word bereik deur middel van ’n multi-as krag en torsie sensor wat aan beide industriële robotte toegepas word. ’n Kommunikasie stelsel is ontwikkel wat die krag en torsie lesings van beide sensors kan ontvang sowel as die robot instruksies na elke robot (Meester en Slaaf) kan stuur. Haptiese terugvoer word bereik deur die krag en torsie lesings van beide sensors te kombineer in ’n beheer stelsel voordat dit verder gemanipuleer word in die form van ’n robot instruksie wat gebruik word vir die beheer van beide Meester en Slaaf. Toetsing van die ontwikkelde telerobotiese stelsel dui aan dat ’n funksionele stelsel ontwikkel is. Daar is egter verskeie kwessies geïdentifiseer wat die operateur se beheer vermoeëns oor die Slaaf beperk wat sodoende na veiligheids kwessies kan lei. 2012-03-13T16:08:15Z 2012-03-30T10:38:38Z 2012-03-13T16:08:15Z 2012-03-30T10:38:38Z 2012-03 Thesis http://hdl.handle.net/10019.1/20059 en_ZA Stellenbosch University 102 p. : ill. application/pdf Stellenbosch : Stellenbosch University |
| spellingShingle | Telerobotics Haptics Motoman Robots Force feedback Control Dissertations -- Industrial engineering Theses -- Industrial engineering Pretorius, Johnathan Development and implementation of a telerobotic system with video and haptic feedback |
| title | Development and implementation of a telerobotic system with video and haptic feedback |
| title_full | Development and implementation of a telerobotic system with video and haptic feedback |
| title_fullStr | Development and implementation of a telerobotic system with video and haptic feedback |
| title_full_unstemmed | Development and implementation of a telerobotic system with video and haptic feedback |
| title_short | Development and implementation of a telerobotic system with video and haptic feedback |
| title_sort | development and implementation of a telerobotic system with video and haptic feedback |
| topic | Telerobotics Haptics Motoman Robots Force feedback Control Dissertations -- Industrial engineering Theses -- Industrial engineering |
| url | http://hdl.handle.net/10019.1/20059 |
| work_keys_str_mv | AT pretoriusjohnathan developmentandimplementationofateleroboticsystemwithvideoandhapticfeedback |