A Study of Accuracy and Time Delay for Bilateral Master-Slave Industrial Robotic Arm Manipulator System

Nuratiqa Natrah Mansor,Ahmad Zaki Shukor,Chee Cong Lok,Muhammad Herman Jamaluddin

doi:10.1051/matecconf/201815001015

Nuratiqa Natrah Mansor, Ahmad Zaki Shukor + Show 2 more

Open Access

https://doi.org/10.1051/matecconf/201815001015

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Abstract

Bilateral master-slave industrial robotic arm manipulator system is an advanced technology used to help human to interact with environments that are unreachable to human, due to its remoteness or perilous. The system has been used in different areas such as tele-surgery, autonomous tele-operation for sea and space operation and handling explosive or high radiation operation fields. It is beneficial both for science and society. Remarkably, the system is not common and generally used in Malaysia. Likewise, the number of research conducted that focused about this technology in our country manufacturing industry are not yet discovered and existent. The implementation of this bilateral manipulator system in an industrial robot could be useful for industrial imminent and development over our country and people, specifically for production yield size and human operative. Hence, the study of bilateral robotic arm manipulator system in an industrial robot and analyzation of its performance and time delay in 3 differ controllers will be discussed to attest the efficiency and its effectiveness on the said design system. The experiment conducted was on KUKA youBot arm in V-Rep simulation with three different controllers (P, PD, PID).

Highlights

In robotic technology, haptic system is known to be a medium that can give force sensation to user from real environment
The accuracy of motion between master and slave robot is emphasized, a good control system is necessary in this project
The suggested bilateral master-slave control system has been proved by carrying experiments with certain set of variables

Summary

Introduction

Haptic system is known to be a medium that can give force sensation to user from real environment. Position or velocity and force information are bidirectionally transmitted in this type of control system. In the complexity of communication network between computer and masterslave telerobotic system, time-delay is unavoidable during the data packet exchanged This is because the subsystems, which is master and slave robot may have located far from each other [4]. The delay give rise to latency and interference in terms of the system performance during transmitting the tactile sensation to other pair of its subsystem. It deteriorates overall performances and thereby may destabilize the system works [5].

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Conclusion