Vision-based force compliance control method for motion navigation in haptic bilateral control system

Muhammad Herman , Jamaluddin (2015) Vision-based force compliance control method for motion navigation in haptic bilateral control system. UNSPECIFIED thesis, UTeM.

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Abstract

The integration of high transparent bilateral control system and vision-based navigation system is important for the development of safe and secure teleoperation technology. To realize this, it is necessary to be able to handle the object's motion tracking elements that form this invention. The advent of real-time image guidance in the haptic environment has led to the development of the latest technologies. One of the important parts to be considered is how the object can be tracked. This study proposes a force-based compliance control method utilizing visual information that can be integrated with a haptic system for motion navigation tasks. The force generated on the basis of useful image information of the tracked object is utilized to provide a response to the bilateral control system. An eye-to-hand approach is used to magnify the information from the vision sensor. The control strategy, image processing method, and integration techniques are elaborated upon in detail. To prove the utility of the proposed method, the study is conducted to find the effect of the generated force by the different scaling of the object's size. Experiments were conducted using different distances between the camera and object to validate the proposed integration method. The effectiveness of the proposed method was evaluated through a comparison with the conventional bilateral control method. The intention is also be given to the robustness of the navigation technique. As for the motion navigation task, the integration of bilateral control of a master-slave system with the vision-based force compliance controller will have some modelling error. The disturbance of the modelling error that occurs in the integration of the system will be compensated by the implementation of vision-based disturbance observer (VDOB). The concept of control structure between the integration of bilateral manipulator, vision-based force compliance controller and the vision-based disturbance observer is described. Experiments were conducted to compare the result of without and with the proposed integration method. From the experimental results, the robustness of the proposed system are confrmed. The study also be focussed on the object coordinate orientational effect to the proposed virtual force navigation method. Thus, this study provides a solution for solving the object's rotational effect during the navigation process by the haptic bilateral control system. During object's navigation, the virtual force is generated and affected to the manipulator's horizontal trajectory movement. The study on the different rotational angle of an object's trajectory which refl ects to different movement direction of produced force are observed.

Item Type: Thesis (UNSPECIFIED)
Uncontrolled Keywords: human-computer interaction, virtual reality
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: Library > Tesis > FKEKK
Depositing User: Noor Rahman Jamiah Jalil
Date Deposited: 06 Jul 2015 06:47
Last Modified: 04 Nov 2020 12:29
URI: http://eprints.utem.edu.my/id/eprint/14692
Statistic Details: View Download Statistic

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