Aug 18, 2019  
2013-2014 Academic Catalog 
    
2013-2014 Academic Catalog [Archived Catalog]

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RCSS 531/5231 - Teleoperation, Haptic Systems and Collaborative Control (3 cr.)



Description
Technical specifications: teleoperation and haptics systems. Haptics: Human, Machine, and Computer haptics, and their interrelation. Haptic systems: sensors, actuators and interfaces. Haptic device modeling and control. Event-based haptics. Rendering of stiff walls and friction, rigid-body and deformable body interaction. Haptic teleoperation. Bilateral teleoperation. Teleoperation and haptic systems architecture control approaches. Force control, impedance control, stiffness control Feed-forward control, Adaptive motion/force control. Performance specifications and stability issues, Stability and Transparency, stability against passive human and environment impedances. Design for time-delayed teleoperation. Robustness issues. Collaborative control and collaborated virtual environment.
 



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