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Performance Measures for Bilateral Telemanipulation

Löw, Thomas (2022) Performance Measures for Bilateral Telemanipulation. DLR-Interner Bericht. DLR-IB-RM-OP-2022-97. Bachelor's. Munich University of Applied Sciences. 85 S.

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Bilateral telemanipulation studies designed for the purpose of testing and evaluating communication channel control approaches are predisposed to the respective varying conditions of the study and their reproducibility is often limited. This thesis presents a performance measure framework, a teleoperation evaluation suite for evaluating and comparing novel control approaches which shall bring awareness to standardize evaluation methods for teleoperation. To account for the wide variety of existing control approaches and performance measures, an extensive literature review was conducted to determine the requirements for such a framework. This framework contains a virtual operator and a virtual environment to eliminate highly varying factors. Real haptic devices are used in the experiment so that non-deterministic effects and uncertainties are not neglected. For the simulation and experiment, the performance is measured for one specific human arm impedance during free motion and wall contact. The root-mean-square tracking errors of the positions, velocities and forces are used to compare the control approaches TDPA and wave variables within the positionforce and velocity-force domain. A pilot study with six participants was conducted with the aim to compare the control approaches for various conditions regarding the tracking performance and quality of teleoperation. The experiments and pilot study results showed good alignment with the simulation results regarding the performance evaluation of both control approaches, TDPAs performance degradation with time delay and the behavior of the wave variables approach for various wave impedances b.

Item URL in elib:https://elib.dlr.de/189385/
Document Type:Monograph (DLR-Interner Bericht, Bachelor's)
Title:Performance Measures for Bilateral Telemanipulation
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Date:August 2022
Refereed publication:No
Open Access:No
Number of Pages:85
Keywords:telemanipulation, performance measures, haptic feedback, optimization
Institution:Munich University of Applied Sciences
Department:Department of Mechanical Engineering
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Telerobotics
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Hulin, Dr. Thomas
Deposited On:26 Oct 2022 17:25
Last Modified:26 Oct 2022 17:25

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