Master Degree / Yüksek Lisans Tezleri

Permanent URI for this collectionhttps://hdl.handle.net/11147/3008

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Subject: search.filters.subject.Teleoperation systems

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  • Master Thesis
    Implementation of a Real-Time Teleoperation System for the Control of a Robotic Squid
    (01. Izmir Institute of Technology, 2023) Cezayirli, Hasan; Dede, Mehmet İsmet Can
    Teleoperation is defined as the remote control of a robotic system from an operational environment. Teleoperation of soft robots has been a growing research topic in recent years and there are still areas awaiting further studies. In this study, a real-time teleoperation system has been implemented for a robotic squid with four soft arms, to be used in underwater operations. The teleoperation system consists of dissimilar master-slave system kinematics, with multiple master systems and multiple slave systems. An operator utilizes two haptic devices for the manipulation of the four soft robot arms. Haptic feedback is incorporated into the system for ease of use. The slave system within the implemented teleoperation system is simulated using hardware-in-the-loop simulation. For this purpose, communication protocols from the real system are employed. In other words, the applied teleoperation system is integrated within the hardware-in-the-loop simulation of the real system. Experiments were conducted to validate that the implemented system is a real-time system and to evaluate the ease of use of the system from the operator's perspective. Additionally, experiments were expanded to measure the impact of haptic feedback on the performance of the operator. The experimental results indicate that the system is a real-time system and haptic feedback improves the system's ease of use.
  • Master Thesis
    Learning Control of Robot Manipulators With Telerobotic Applications
    (Izmir Institute of Technology, 2016) Doğan, Kadriye Merve; Tatlıcıoğlu, Enver
    Learning control of teleoperation systems that can be utilized in telerehabilition applications is investigated in this thesis. Specifically, considering the fact that in rehabilitation the patient is required to perform a task over and over again, learning controllers are considered as the most feasible solution, in which desired trajectories are periodic with a known period. Since control of teleoperation systems are directly related with the control of robots that are included to the system, learning control of joint space and task space of these robots are simulated in the first part of this study. Joint space learning controller is designed under the restrictions that the robot dynamic model being uncertain and that joint velocities are unmeasurable. Then, a task–space learning controller is designed by considering the fact that the most desired tasks are defined in the end–effector space. Via Lyapunov based stability analysis methods, asymptotic tracking is ensured for both controllers. Numerical simulation results and experimental studies are utilized to illustrate the performance of the designed controllers. In the second part of this thesis, performance of the direct teleoperation and model mediated teleoperation methods under time delays in the communication cahannel are examined in a comparative manner. In direct teleoperation, the information between master and slave systems are exchanged directly, while the model of the environment of the slave system is learnt and integrated at the master side as proxy dynamics in model mediated teleoperation. Experimental studies are realized to evaluate the performance of both of mentioned methods.