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Cursus: 202200110
202200110
Tele-presence Robotics
Cursus informatie
Cursus202200110
Studiepunten (ECTS)5
CursustypeCursus
VoertaalEngels
Contactpersoondr.ir. D. Dresscher
E-maild.dresscher@utwente.nl
Docenten
Examinator
dr.ir. D. Dresscher
Contactpersoon van de cursus
dr.ir. D. Dresscher
Examinator
dr.ing. G. Englebienne
Examinator
prof.dr. J.B.F. van Erp
Collegejaar2022
Aanvangsblok
2A
AanmeldingsprocedureZelf aanmelden via OSIRIS Student
Inschrijven via OSIRISJa
Cursusdoelen
In this course, you will develop:
  • Your ability to study and understand the content of scientific work
  • Conveying the outcomes and insights of this study
  • Critical thinking
  • Familiarity with some of the key ideas in the field of telemanipulation
Inhoud
  • 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
  • Using tele-operation to create remote human-human, social interactions
    • Different social modalities (voice, gestures, face, touch, ...)
    • Bidirectional robot-mediated communication
    • ELSA aspects
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
Participating study
Master Robotics
Verplicht materiaal
Course material
Selected papers
Aanbevolen materiaal
-
Werkvormen
Hoorcollege

Zelfstudie geen begeleiding

Toetsen
Test

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