Cerebellar Model Articulation Controllers for Bilateral Teleoperation with Elastic-Joint Manipulators and Haptic Feedback

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atmire.migration.oldid4793
dc.contributor.advisorMacnab, Chris
dc.contributor.authorL'Orsa, Rachael
dc.contributor.committeememberGoldsmith, Peter
dc.contributor.committeememberHu, Yaoping
dc.contributor.committeememberNowicki, Ed
dc.date.accessioned2016-08-23T18:44:04Z
dc.date.available2016-08-23T18:44:04Z
dc.date.issued2016
dc.date.submitted2016en
dc.description.abstractTelesurgical systems that incorporate haptic feedback at the master with a light, compliant slave may provide a superior surgical experience for both patient and health care team. This thesis presents a first investigation of the use of Cerebellar Model Articulation Controllers in just such an application, where the adaptive neural network is used to overcome unknown, nonlinear system dynamics, interaction with unstructured environments, and non-passive operator behaviour in real-time. The controller's output is shown to be Ultimately Uniformly Bounded via the Lyapunov approach, and its stability is verified experimentally. It performs as well as a PID controller during direct real-time bilateral teleoperation and is more robust to rate changes during hard contacts. An auxiliary error that provides torque tracking during interaction and velocity tracking during motion through free space without the need for switching or gain scheduling is evaluated, and key considerations for the implementation of custom controllers with Quanser's 2 DOF Serial Flexible-Joint Robot are discussed.en_US
dc.identifier.citationL'Orsa, R. (2016). Cerebellar Model Articulation Controllers for Bilateral Teleoperation with Elastic-Joint Manipulators and Haptic Feedback (Master's thesis, University of Calgary, Calgary, Canada). Retrieved from https://prism.ucalgary.ca. doi:10.11575/PRISM/25242en_US
dc.identifier.doihttp://dx.doi.org/10.11575/PRISM/25242
dc.identifier.urihttp://hdl.handle.net/11023/3211
dc.language.isoeng
dc.publisher.facultyGraduate Studies
dc.publisher.institutionUniversity of Calgaryen
dc.publisher.placeCalgaryen
dc.rightsUniversity of Calgary graduate students retain copyright ownership and moral rights for their thesis. You may use this material in any way that is permitted by the Copyright Act or through licensing that has been assigned to the document. For uses that are not allowable under copyright legislation or licensing, you are required to seek permission.
dc.subjectEngineering--Electronics and Electrical
dc.subjectEngineering--Mechanical
dc.subjectRobotics
dc.subject.classificationteleoperationen_US
dc.subject.classificationHapticsen_US
dc.subject.classificationCerebellar Model Articulation Controlleren_US
dc.subject.classificationNeural Networken_US
dc.subject.classificationControlen_US
dc.titleCerebellar Model Articulation Controllers for Bilateral Teleoperation with Elastic-Joint Manipulators and Haptic Feedback
dc.typemaster thesis
thesis.degree.disciplineElectrical and Computer Engineering
thesis.degree.grantorUniversity of Calgary
thesis.degree.nameMaster of Science (MSc)
ucalgary.item.requestcopytrue
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