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Title: An investigation of haptic assisted robotic manipulating and planning for high accuracy control
Author: Li, Mutian
ISNI:       0000 0004 7972 289X
Awarding Body: University of Strathclyde
Current Institution: University of Strathclyde
Date of Award: 2019
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This research investigation advances the understanding of force feedback with the aim to achieve better human interaction with a haptic system for a diverse range of application requirements. Human-Machine interactive systems are required in various manipulation tasks, where a higher level of precision and accuracy than normal human capabilities is necessary. These systems also require human intelligence in the control loop to manage complex challenges typically found in extreme environments such as nuclear, space, underwater and mining. In these environments, visual information may not always be available or of substandard quality. The touch sensation, in terms of haptic perception, includes tactile and kinesthetic sensations. These sensations help the user understand an object's material properties in the environment as well as their body position and movement. Therefore, it is suggested that haptic force feedback can be introduced to provide assistance where a high level of accuracy of human manipulation is required. The knowledge gaps for the design of multitask haptic assisted systems are identified and concluded through a literature review. A comparison table is produced to demonstrate the functionalities and inadequacies of existing systems in dealing with the required functions. There are knowledge gaps in system design, for example, regarding haptic systems in space environments. There also exists a lack of systems in manufacturing where existing robotic systems can be easily adopted for haptic control applications. A design methodology is proposed to support the design of a haptic assisted system that integrates professional knowledge and experience with different types of haptic virtual fixtures in manipulating and planning tasks. For this design methodology, a general Haptic Assisted Robotic Manipulating and Planning system (HARMP) is proposed and investigated. This planning system provides a common haptic interface and haptic assistance for multiple applications such as for robotic planning and manipulating tasks. A system architecture is proposed and constructed with components including hardware (Haptic user interaction system) and software (Haptic modelling environment). The system specification template is built with geometric modelling, force modelling, force rendering, environment modelling and an integrated knowledge library. The haptic virtual fixtures are classified into three categories: telepresence, virtual constraints and guidance. In three case studies, the task requirements are analysed to identify the specifications necessary along with the virtual fixtures so they can be assigned to modify the HARMP system accordingly. A method to utilise haptic guidance in space robotic manipulation for capturing tasks is proposed. Also, a concept and implementation to enhance the HARMP design model in enabling bilateral haptic interaction is proposed and implemented as a haptic coupler which enables novel use of haptic system in both directions. This proposed HARMP is validated through three design case studies and the HARMP system has then been proven to be effective in three different types of applications namely, dental, space and manufacturing. It is anticipated that HARMP system could be equally applicable in other applications. The contribution to knowledge reflects this wide range of activities in broad haptic interactions, including literature review, new design methodology development and validation of the proposed methodology through three case studies and finally the novel haptic systems developed through these case studies. A novel and generic design methodology, HARMP, for haptic system design is proposed, fully developed and evaluated, incorporating virtual fixtures for high accuracy manipulating and planning tasks. The HARMP methodology can be used to clarify the design process and design activity flow in order to generate necessary system specifications and components for the final haptic system for a given design problem.
Supervisor: Yan, Xiutian Sponsor: Not available
Qualification Name: Thesis (Ph.D.) Qualification Level: Doctoral