Shahzad, Aamir: Development of stable telecontrol and teleoperation of the AutoMerlin mobile robot. 2017
Inhalt
- Abstract
- Zusammenfassung
- Acknowledgements
- Contents
- List of Figures
- List of Tables
- Abbreviations
- Physical Constants
- Symbols
- 1 Introduction
- 1.1 Teleoperated Robots
- 1.2 Paramount Interpretations
- 1.2.1 Robotics
- 1.2.2 Mobile Robot
- 1.2.3 Teleoperator
- 1.2.4 Teleoperation
- 1.2.5 Telepresence
- 1.2.6 Telerobotics
- 1.2.7 Bilateral Teleoperation
- 1.2.8 Impedance
- 1.2.9 Transparency
- 1.2.10 Force
- 1.2.11 Haptics
- 1.2.12 Haptic Device
- 1.2.13 Supervisory Control
- 1.3 Components of a Teleoperation System
- 1.4 Thesis Outline
- 2 Problem Description
- 3 Literature Review
- 3.1 Early Teleoperation Strategies
- 3.2 Passivity Based Teleoperation
- 3.3 Teleoperation over the Internet
- 3.4 Passive Decomposition
- 3.5 Adaptive Control
- 3.6 Sliding-mode Control
- 3.7 Control
- 4 Event Based Telecontrol
- 4.1 Introduction to Event Based Control
- 4.2 Teleoperation with Event Based Control
- 4.3 System Implementation Model
- 4.4 Stability Analysis
- 4.5 Experimental Results
- 5 Telecontrol with Fuzzy Logic
- 5.1 Introduction
- 5.2 Fuzzy Logic in Control
- 5.2.1 Fuzzification Module
- 5.2.2 Rule Base
- 5.2.3 Fuzzy Inference Engine
- 5.2.4 Defuzzification Module
- 5.3 Telecontrol Setup
- 5.4 Intelligent Fuzzy Set Model For AutoMerlin Telecontrol
- 5.5 Experimental Results
- 5.6 Free Intelligent Navigation (FIN) Algorithm
- 5.7 Experimental Results
- 6 Time Domain Passivity Control
- 7 Time Delay Power Network
- 7.1 Passivity of TDPN
- 7.2 Problem Description
- 7.3 Experimental Results with Fix Delay
- 7.4 Experimental Results with Stochastic Delay
- 8 Path Planning and Motion Coordination of Multiple Robots
- 8.1 Kinematic of The Mobile Robot
- 8.2 Probabilistic Fuzzy Logic System
- 8.3 ANFIS
- 8.4 Experimental Results
- 9 Conclusion and Future Work
- Bibliography