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Cursus: 201800225
201800225
Tele-interaction in Robotics
Cursus informatie
Cursus201800225
Studiepunten (ECTS)5
CursustypeCursus
VoertaalEngels
Contactpersoondr.ir. D. Dresscher
E-maild.dresscher@utwente.nl
Docenten
Contactpersoon van de cursus
dr.ir. D. Dresscher
Examinator
dr.ir. D. Dresscher
Collegejaar2022
Aanvangsblok
2B
OpmerkingOnly for students who need to re-take the exam from last year.
AanmeldingsprocedureZelf aanmelden via OSIRIS Student
Inschrijven via OSIRISJa
Inhoud

This course is offered one last time in the academic year 22-23 for those who need to re-take the exam.

All others: please refer to the new course 202200110 Tele-presence Robotics.

 
  • Introduction
    • Telemanipulation and application
    • Challenges in telemanipulation
  • Basic Concepts
    • Stability, passivity, transparency
    • Dynamics and models
    • Ideal and non-ideal behaviour
    • Effects of time delays and adding damping
  • Dealing with the effects of time delays: stability
    • Wave variables
    • Time domain passivity control and passivity layers
  • Dealing with the effects of time delays: performance
    • Bilateral and adaptive impedance control
    • Point-cloud based model mediated teleoperation
    • Impedance modulation and tele-impedance
Voorkennis
- Physics basics; electrical and mechanical domain, power and energy
- Math basics
- Block diagrams
- Descriptions of MIMO (multiple input - multiple output) systems
- Impedances and Admittances
- Laplace domain
- Transfer functions
Participating study
Master Interaction Technology
Participating study
Master Industrial Design Engineering
Participating study
Master Electrical Engineering
Participating study
Master Systems and Control
Verplicht materiaal
Course material
Selected papers
Aanbevolen materiaal
-
Werkvormen
Self study without assistance

Toetsen
Test

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