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Please use this identifier to cite or link to this item: http://hdl.handle.net/1812/1066

Title: Evaluating the performance of a Telerobotic system employing model predictive control techniques
Authors: Ghaffari, Hossein
Keywords: Telerobotic system
Predictive control techniques
Robots controlling
Long distance controlling
Robotics technology
Teleoperation
Distant transmission
Issue Date: May-2011
Publisher: University Malaya
Abstract: ABSTRACT Controlling robots over long distances is an important issue in robotics technology and teleoperations. In a teleoperation system the controller provides accurate transmission between master and slave manipulators. For a distant transmission, time delay and loss of data are common problems, making teleoperation systems unstable and unreliable. Due to existing vulnerabilities in web-based system, security in different robotic applications is an important issue and differing levels of security measures may be considered. This research present an approach to set up teleoperation systems with long distance communication channels like Internet via Model Predictive Control (MPC) techniques. The modified MPC scheme with a novel method of creating and transmitting the batch files for executing the commands in the server is investigated via a case study. Experimental results are used to verify the robustness of the approach in terms of tracking behavior with both variations of time-delays and packet losses in the communication network. For the experimentation, the communication network is Internet using UDP protocol while the slave robots are 6 Degrees of Freedom anthropomorphic robots with force sensors. The experiments are conducted between two remote sites of a distance 6000 km. ABSTRAK Pengawalan robot, dalam jangka masa panjang merupakan satu isu penting dalam bidang teknologi robot dan teleoperasi. Dalam sistem teleoperasi, pengawal memberi transimasi yang tepat di antara 'master' dan pemanipulasi 'slave' Untuk transimasi jarak jauh,kelewatan dan kehilangan data merupakan masalah yang berlaku kerap kali yang menyebabkan sistem teleoperasi menjadi tidak stabil dan datanya kurang sah. Ciri ciri ini menyebabkan sekuriti dalam aplikasi robotik menjadi isu penting dan tahap sekuriti yang berbeza haruslah dipertimbangkan. Kajian ini mengkaji satu pendekatan sistem teleoperasi yang menggunakan saluran komunikasi jarak jauh seperti Internet melalui teknik Model Predictive Control (MPC) Skema MPC yang telah diubahsuai dengan kaedah mencipta dan menyalurkan data fail untuk melaksanakan arahan dalam server telah dikaji melalui kajian kes. Keputusan eksperimen telah digunakan untuk sahkan keberkesanan pendekatan ini tanpa mengabaikan kedua dua variasi iaitu kelewatan dan kehilangan data dalam jaring komunikasi. Untuk tujuan eksperimen, jaring komunikasi ialah Internet yang menggunakan protokol UDP manakala robot 'slaves' yang digunakan ialah jenis '6 Degrees of Freedom anthropomorphic' yang mempunyai 'force sensors'. Eksperimen ini dijalankan di antara dua lokasi dengan jarak 6000 km.
Description: Dissertation (M.I.T.) -- Faculty of Computer Science & Information Technology, Universiti Malaya, 2011.
URI: http://dspace.fsktm.um.edu.my/handle/1812/1066
Appears in Collections:Masters Dissertations: Computer Science

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