Abstract
This paper presents the research on bilateral teleoperation control system of two link planar manipulator. The bilateral control system consists of master and slave system using geared DC-motor. Both master and slave manipulators are actuated by DC-Micromotor attached to planetary gearhead to increase the output torque. In the previous researches, the common used actuators were linear motors and direct drive DC motor. However, the application of DC motor with gearhead is vast in industry, due to the need for high output force or torque. Thus in this paper, a deeper research on bilateral teleoperation control system is proposed with implementation of gear into the DC-motor. The modelling of multi-degrees-of-freedom (MDOF) bilateral teleoperation control system is designed with the implementation of workspace observer (WOB), reaction force observer (RFOB), position controller and force controller. During the experiments, free motion and contact motion were conducted to validate the proposed setup in bilateral teleoperation control system. The position and torque responses of both master and slave manipulators were observed. The operationality and reproducibility of this proposed system were evaluated through experimental results. Ultimately, this paper focused on the performance of the proposed setup and is analysed by using reproducibility and operationality.
Highlights
Haptic is one of the developing technology in the robotic application
With the implementation of this scheme and workspace observer into MDOF bilateral control, the external forces exerted on master and slave system can be physically fealt
The position tracking of the end-effector and the “law of action and reaction” are achieved between master and slave system in the workspace. This shows that the geared DC-motor performs well in contact motion and reproduce the reaction force from the environment and the bilateral teleoperation control system is achieved
Summary
Haptic is one of the developing technology in the robotic application. Bilateral teleoperation with master and slave system is one of the haptic technology. Development of bilateral teleoperation control system in surgery for surgical tools and instruments has been researched for the past few decades. As a result, this technology assisted in minimal invasive surgeries for mankind. With the implementation of this scheme and workspace observer into MDOF bilateral control, the external forces exerted on master and slave system can be physically fealt. Geared motor produces large joint friction in teleoperation and affects the force/torque sensorless control. As a result, this affects the reproducibility and operationality of a bilateral control system. The performance of the proposed setup is analysed by using reproducibility and operationality
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