48 lines
1.3 KiB
Python
48 lines
1.3 KiB
Python
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from diagrams import Diagram, Cluster
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from diagrams.generic.compute import Rack
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from diagrams.generic.blank import Blank
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from diagrams.generic.network import Switch
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# We will use Rack as generic processing block
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# Blank as hidden connectors
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with Diagram("Closed-loop Teleoperation Architecture",
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show=False, direction="LR",
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outformat="png"):
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# ---- Human operator ----
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human = Rack("Human\noperator")
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# ---- Master exoskeleton ----
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master = Rack("Master exoskeleton\nsensing & actuation")
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# ---- SEW retargeting ----
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sew = Rack("SEW-based posture\nretargeting (IK-free)")
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# ---- Slave controller ----
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ctrl = Rack("Slave joint\ncontroller")
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# ---- Slave arm ----
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slave = Rack("7-DoF slave arm\n+ environment")
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# ---- Bottom blocks ----
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est = Rack("Interaction\nforce estimator")
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haptic = Rack("Haptic rendering\n+ energy tank")
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# ---- Connections (Main forward loop) ----
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human >> master
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master >> sew
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sew >> ctrl
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ctrl >> slave
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# ---- Feedback loop ----
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slave >> est
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est >> haptic
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haptic >> master
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# Optional: chest-frame Jacobian dashed arrows (use Blank as endpoints)
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Jm = Blank(" ")
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Js = Blank(" ")
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master >> Jm >> haptic
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slave >> Js >> est
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