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
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
posted by prawal at 9:07 PM
10 Comments:
Hi there, yup this post is truly pleasant and I have learned lot of things from it regarding blogging.
thanks.
Take a look at my web site; Authentic Sidney Crosby Jersey
Hi I am so glad I found your site, I really found you by mistake, while I
was searching on Askjeeve for something else, Nonetheless I am here now and would just like to say thank you for a marvelous post and a all round enjoyable blog (I also love the theme/design), I don’t have time to go
through it all at the minute but I have book-marked it and also added your RSS feeds, so when I have time I will be
back to read much more, Please do keep up the excellent
b.
Also visit my webpage :: Gafas De Sol Oakley
Howdy! This is kind of off topic but I need some help from an established blog.
Is it tough to set up your own blog? I'm not very techincal but I can figure things out pretty quick. I'm thinking about creating my own but I'm not sure where to start. Do you have any tips or suggestions? Many thanks
Look at my homepage Louis Vuitton Bags
Thanks for the auspicious writeup. It actually used to
be a amusement account it. Glance complicated to
far delivered agreeable from you! However, how can we be in contact?
My web page - Abercrombie Et Fitch
Very great post. I just stumbled upon your blog and
wished to say that I have really loved surfing around your blog
posts. After all I'll be subscribing for your feed and I'm hoping you write again soon!
Stop by my webpage :: Tory Burch Handbags
Valuable information. Lucky me I found your site by
accident, and I'm shocked why this twist of fate did not came about earlier! I bookmarked it.
Also visit my website: Oakley Sunglasses
Pretty! This was a really wonderful post. Many thanks for
providing this information.
Visit my blog post ... Air Max Femme
I am regular reader, how are you everybody? This paragraph
posted at this site is genuinely fastidious.
Also visit my web-site - NFL wholesale Jerseys
[nysacpr.org]
Hi there this is kinda of off topic but I was wondering
if blogs use WYSIWYG editors or if you have
to manually code with HTML. I'm starting a blog soon but have no coding expertise so I wanted to get advice from someone with experience. Any help would be greatly appreciated!
My page - Nike Black Blazers ()
electronic cigarettes, smokeless cigarettes, ecig forum, e cig reviews, electronic cigarettes, smokeless cigarettes
Post a Comment
<< Home