The teleoperation system is used for controlling a robot at a long distance. This technology is widely used in several dangerous or human-unfriendly environments, like nuclear sites, deep sea, oil mine, or desert.
In order to protect the robot from damage and improve performance, haptic rendering methods give the human operator a better understanding of the interaction between the working environment and the robot. To reduce the negative effects of time delay on the teleoperation system, model mediated teleoperation structures can be applied.
In point cloud based MMT system, an active array of the robotic sensors is used to obtain point cloud data based on which a haptic rendering can be improved. By processing the point cloud data, the operator can feel arbitrarily configured rigid surfaces.
This assignment aims to research the friction rendering in both normal and tangential directions to the surface sampled by combining pcbMMT and IR based estimations.
This will include:
1, designing a pcbMMT control system
2, modeling the friction for multiple interaction cases and estimation
3, researching different methods for rendering friction force within the pcbMMT framework