Abstract
A model for a 'master-slave' two-dimensional telerobotic dynamic system with a haptic interface device is derived. The telerobotic system consists of a 'master' robot, which is a direct-drive robot operated by a human arm, and a 'slave' robot, which is an x-y type pallet located at a remote site. When the active handle of the master is moved along an arbitrary trajectory, the remote slave duplicates the motion in a constrained or unconstrained environment. The behaviour of the environment is felt by the operator through the active handle of the master. This is achieved by feeding back the disturbance and reaction forces from the environment and the loads to the active handle. Consequently, the operator gets a feel of the task being performed without being physically at the location of the task. A control scheme is devised for the telerobotic system to establish smooth communication between the master and slave robots. This control scheme integrates the dynamics of the human arm, actuators and the environment in the closed-loop system. It was shown that the experimental and the theoretical results are in good agreement and that the design controller is robust to constrained/unconstrained environments.
| Original language | English |
|---|---|
| Pages (from-to) | 169-185 |
| Number of pages | 17 |
| Journal | Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering |
| Volume | 217 |
| Issue number | 3 |
| DOIs | |
| Publication status | Published - 2003 |
| Externally published | Yes |
Fingerprint
Keywords
- Active handle
- Direct-drive robot
- Haptic interface device
- x-y type pallet
ASJC Scopus subject areas
- Control and Systems Engineering
- Mechanical Engineering
Cite this
Design and control of a two-dimensional telerobotic system with a haptic interface. / Her, M. G.; Karkoub, Mansour; Hsu, K. S.
In: Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering, Vol. 217, No. 3, 2003, p. 169-185.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Design and control of a two-dimensional telerobotic system with a haptic interface
AU - Her, M. G.
AU - Karkoub, Mansour
AU - Hsu, K. S.
PY - 2003
Y1 - 2003
N2 - A model for a 'master-slave' two-dimensional telerobotic dynamic system with a haptic interface device is derived. The telerobotic system consists of a 'master' robot, which is a direct-drive robot operated by a human arm, and a 'slave' robot, which is an x-y type pallet located at a remote site. When the active handle of the master is moved along an arbitrary trajectory, the remote slave duplicates the motion in a constrained or unconstrained environment. The behaviour of the environment is felt by the operator through the active handle of the master. This is achieved by feeding back the disturbance and reaction forces from the environment and the loads to the active handle. Consequently, the operator gets a feel of the task being performed without being physically at the location of the task. A control scheme is devised for the telerobotic system to establish smooth communication between the master and slave robots. This control scheme integrates the dynamics of the human arm, actuators and the environment in the closed-loop system. It was shown that the experimental and the theoretical results are in good agreement and that the design controller is robust to constrained/unconstrained environments.
AB - A model for a 'master-slave' two-dimensional telerobotic dynamic system with a haptic interface device is derived. The telerobotic system consists of a 'master' robot, which is a direct-drive robot operated by a human arm, and a 'slave' robot, which is an x-y type pallet located at a remote site. When the active handle of the master is moved along an arbitrary trajectory, the remote slave duplicates the motion in a constrained or unconstrained environment. The behaviour of the environment is felt by the operator through the active handle of the master. This is achieved by feeding back the disturbance and reaction forces from the environment and the loads to the active handle. Consequently, the operator gets a feel of the task being performed without being physically at the location of the task. A control scheme is devised for the telerobotic system to establish smooth communication between the master and slave robots. This control scheme integrates the dynamics of the human arm, actuators and the environment in the closed-loop system. It was shown that the experimental and the theoretical results are in good agreement and that the design controller is robust to constrained/unconstrained environments.
KW - Active handle
KW - Direct-drive robot
KW - Haptic interface device
KW - x-y type pallet
UR - http://www.scopus.com/inward/record.url?scp=0038043633&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0038043633&partnerID=8YFLogxK
U2 - 10.1243/095965103765832867
DO - 10.1243/095965103765832867
M3 - Article
VL - 217
SP - 169
EP - 185
JO - Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering
JF - Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering
SN - 0959-6518
IS - 3
ER -