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所在平台: Udemy |
课程主页: https://www.udemy.com/course/telemanipulation/
课程评论：没有评论
**课程名称：** 力反馈遥操作基础 (Telemanipulation with force feedback basics) **课程概述：** 本课程深入探讨遥操作控制的关键机制和机器人化身技术。课程分为两部分： **第一部分：遥操作基础** * **入门：** 介绍机器人化身技术和遥操作控制。 * **核心挑战：** 探讨设备动力学和时间延迟两大挑战及其影响。 * **控制架构：** 深入分析四种最重要的遥操作控制架构的关键机制。 **第二部分：被动性和时间域被动控制** * **方法：** 介绍被动性（passivity）和时间域被动控制（Time-Domain Passivity Control, TDPC）等应对时间延迟的成熟方法。 * **主流技术：** 讨论能量存储库（energy tank based methods）和时延功率网络（time-delay power networks）这两种主要方法。 * **应用与局限：** 探讨 TDPC 如何应用于基础架构以及其局限性。 **学习方式：** 课程结合了启发性的“pencasts”（教学视频）和“DIY@Home”实验室。 * **pencasts：** 以易于理解的方式呈现学术文献中的知识。 * **DIY@Home 实验室：** 提供搭建桌面级遥操作系统的说明，以及基于 Arduino 的遥操作控制器实现。通过实践，学习者可以探索不同架构的性能差异和时间延迟的效果。
In this course we take a deep dive into to understand several of the key mechanisms in telemanipulation control and part of robotic avatar technology. We start with an introduction to robotic avatar technology and telemanipulation control, followed by an introduction to the two main challenges in the field, device dynamics and time delays, and their effects. We finish the first part of the course with in-depth discussions on the key mechanisms of the four most important telemanipulation control architecture.In the second part of the course, we move towards passivity and Time-Domain passivity control as well established methods to deal with some of the effects of time delays. We discuss the two main methods that can be found in literature; energy tank based methods and time-delay power networks. Finally, we discuss how TDPC can be applied to the basic architectures and what the limitations are. The course consists of a combination of informative pencasts in which knowledge from academic literature provided in and accessible way and DIY@Home labs where you can experiment with telemanipulation control yourself. Instructions are made available to build your own tabletop telemanipulation system and basic Arduino-based implementations are provided of some of the telemanipulation controllers. The experiments facilitate exploration of performance differences between different architectures as well as effects of time-delays.
