Implementation of a real-time teleoperation system for the control of a robotic squid
Cezayirli, Hasan,

Implementation of a real-time teleoperation system for the control of a robotic squid

Cezayirli, Hasan,

Yazar Ek Girişi
Cezayirli, Hasan,

Fiziksel Tanımlama
xi, 83 leaves: charts;+ 1 computer laser optical disc

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 realtime 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.

Konu Başlığı
Manipulators (Mechanism)
Remote control

Yazar Ek Girişi
Dede, Mehmet İsmet Can,

Tüzel Kişi Ek Girişi
İzmir Institute of Technology. Mechanical Engineering.

Tek Biçim Eser Adı
Thesis (Master)--İzmir Institute of Technology: Mechanical Engineering.
İzmir Institute of Technology: Mechanical Engineering--Thesis (Master).

Elektronik Erişim
Access to Electronic Versiyon.

LibraryMateryal TürüDemirbaş NumarasıYer NumarasıDurumu/İade Tarihi
IYTE LibraryTezT002811TJ211 .C425 2023Tez Koleksiyonu