Dynamic of system and teleoperation with six degree of freedom haptic robot

Teleoperation is a robot technology that prepares and enables developing humans to duties in the unknown environments. Teleoperation systems have been used to acquire information about the insecure environment for human or locations unreached by the human and gather required data. Another definition of teleoperation refers to remote control of robot actions by a user. Robots attain features such as feeling and making it feel with the development of the haptic system. Today, haptic becomes the science of touching in cyber or real environments. Haptic manipulators and interfaces are the systems that enable touching, feeling, controlling and regulating the objects in the cyber environment and feel the power. One of the objectives of this thesis is to carry out the teleoperation of the cyber and real time robots. In this scope, an interface that communicates with the cyber model of 3 degree of freedom of industrial robot with 6 degree of freedom by using 6 degree of freedom device of Phantom Omni haptic. The user forms position, speed and momentum input for system by mobilizing the haptic interface point. The power and visual movement of cyber robot have been acquired as a feedback for the user by using these inputs with developed algorithms. Power feedback is calculated with dynamic model formed with industrial robot. A visual interface has been designed to provide user with movement of cyber robot as a visual feedback. The visual interface designed shows a cyber environment where solid model of industrial robot locates within. Cyber environment and visual interface have been developed by using Matlab package program. The real size of the cyber industrial robot has been formed in the CAD model solid modeling package program by obtaining from the factory production facilities and virtual reality tool box (VR) has been used that is found in the Matlab package program to create cyber environment. Kinematic, reverse kinematic, dynamic and reverse dynamic models have been obtained for cyber 6 degree of freedom industrial robot and Phantom Omni haptic robot and torque control methods calculated as feed-forward based on PD and PID for the real-cyber robot control have been controlled in the real and simulation environment. The second objective of this thesis is to carry out unilateral movement control between the real and cyber robots. In this sense, kinematic, reverse kinematic and Jacobian matrix have been obtained for 3 degree of freedom robotic arm. In this section, movement control has been carried out with 3 degree of robotic arm and cyber industrial robot with Phantom Omni haptic robot and results have been examined. Cyber robot and teleoperation and bilateral power and PID in movement control that are the third objective of the study have been carried out with torque control method calculated adaptively and implemented in simulation and real environment and the results are examined. The results are obtained in graphical sense and values are shown in tables. As a result, when the performance of control algorithms are considered, control algorithms of Adaptive Based- CTC has a better performance and applicability. The programs developed in the scope of this thesis can be used for future studies about the cyber robot and haptic device.