iv
TABLE OF CONTENTS PAGE
DECLARATION APPROVAL
DEDICATION ABSTRACT
i ABSTRAK
ii ACKNOWLEDGEMENTS
iii TABLE OF CONTENTS
iv LIST OF TABLES
vii LIST OF FIGURES
ix LIST OF APPENDICES
xii LIST OF ABBREVIATIONS
xiii LIST OF PUBLICATIONS
xv CHAPTER
1. INTRODUCTION
1
1.0 BackgroundMotivation
1 1.1
Problem Statement 3
1.2 Objective
5 1.3
Scope 5
1.4 Contribution of the Thesis
6
2. LITERTURE REVIEW 7
2.0 Introduction
7 2.1
Background on Workspace Control 8
2.2 Introduction to Haptic System
9 2.3
Bilateral Control System 12
2.4 Disturbance Observer DOB and Reaction ForceTorque Observer
RFOBRTOB 15
2.5 Various Implementation on Bilateral Control System
18 2.6
Background on Micro-Macro Bilateral Control System 21
2.7 Summary
24
3. METHODOLOGY 28
3.0 Introduction
28 3.1
Experimental Setups 30
3.1.1 Implementation of Force Gauge
38 3.2
Part I: Workspace Control of Two-Link Planar Manipulator 40
3.2.1 Comparison of Control Methods
41
v 3.2.2
Single Link Manipulator Close Loop Control System 42
3.2.3 Two Link Manipulator Close Loop Control System
44 3.2.4
Workspace Control Method 1 47
3.2.5 Workspace Control Method 2
48 3.2.6
Workspace Control Method 3 52
3.2.7 Experiment Procedure for Part I
55 3.3
Part II: Single Link Planar Manipulator Bilateral Control System 56
3.3.1 Disturbance Observer DOB and Reaction Torque
Observer RTOB 60
3.3.2 Experiment Procedure for Part II
64 3.4
Part III: Two-Link Planar Manipulator Bilateral Control System 65
3.4.1 Workspace Observer WOB and Reaction Force
Observer RFOB 70
3.4.2 Experiment Procedure for Part III
73 3.5
Part IV: Single Link Planar Manipulator Micro-Macro Bilateral Control System
75 3.5.1
Experiment Procedure for Part IV 78
3.6 Part V: Two-Link Planar Manipulator Micro-Macro Bilateral
Control System 79
3.6.1 Experiment Procedure for Part V
81 3.7
Stochastic Tuning of Gains 83
3.8 Performance of Common Mode and Differential Mode
86
4. RESULT AND DISCUSSION 88
4.0 Introduction
88 4.1
Part I: Workspace Control of Two-Link Planar Manipulator 89
4.1.1 Observation and Findings
93 4.2
Part II: Single Link Planar Manipulator Bilateral Control System 94
4.2.1 Free and Contact Motion Experiment
98 4.3
Part III: Two-Link Planar Manipulator Bilateral Control System 100
4.3.1 Free and Contact Motion Experiment
101 4.4
Part IV: Single Link Planar Manipulator Micro-Macro Bilateral Control System
104 4.4.1
Free and Contact Motion Experiment 105
4.5 Part V: Two-Link Planar Manipulator Micro-Macro Bilateral
Control System 108
4.5.1 Free and Contact Motion Experiment
110 4.5.1.1
Case 1 111
vi 4.5.1.2 Case 2
112 4.5.1.3 Case 3
114 4.5.1.4 Case 4
116 4.5.2
and Gains Experiment 118
4.5.2.1 Case 1 118
4.5.2.2 Case 2 119
4.5.2.3 Case 3 120
4.5.2.4 Case 4 121
4.5.3 Observations and Findings
122 4.6
Summary 123
5. CONCLUSION AND RECOMMENDATIONS FOR FUTURE RESEARCH
