share markets !!

share markets !!
Originally uploaded by prawal.

cotrol loop in haptic teleoperation

daniel6
Originally uploaded by prawal.

Servomechanism Teleoperation in Haptics

Recently I took up a project relating to the teleoperation in haptics . Nice to hear but equally difficult to simulate. I am using Phantom and the hardware part of the teleoperatipn are taken care of by the manufacturers, but the teleoeration requires that the human and the human servomotor(used in phantom) have same frequencies.
As Goertz found out that the teleoperation problem is asymmetric and "The frequency range that a person can feel is much higher than the frequency range of the human motor system" so we require to make these frequencies compatible for efficient real time data transfer. Here we have to simulate a servomecanism feedback control loop and that too in non linear control systems for use in real world, taking care of the noise.
Again this simulation is not as easy as it seems to be, simulating various integrators and then putting them in feedback loops so as to make them robust enough for all types of noise is an interesting chalenge before me right now.
The control loop is as shown in the figire.
suggestions??

regards