By Topic

Analysis and design of haptic telerobotic system

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $31
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Her, M.-G. ; Dept. of Mech. Eng., Tatung Univ., Taipei, Taiwan ; Hsu, K.-S. ; Yu, W.-S. ; Karkoub, M.

A control scheme is derived for a `master slave' telerobotic dynamic system with haptic behaviour. The telerobotic system consists of a `master' robot, operated by a human arm, and a kinematically identical `slave' robot, located at a remote site. When the operator moves the handler of the `master' back and forth, the remote `slave' mimics the motion in a constrained or unconstrained environment. The disturbance and reaction forces from the environment and the loads are fed back to the handler of the `master' and felt by the operator. Thus, the operator gets a feel of what is out there without being there. The advantage of the presented control scheme is the integration of the dynamics of the operator arm, actuators, and the environmental in the closed-loop control system for stability analysis. It is shown that the experimental and theoretical results are in good agreement, and that the designed controller is robust to constrained/unconstrained environment and load disturbances

Published in:

Control Theory and Applications, IEE Proceedings -  (Volume:148 ,  Issue: 4 )