Investigation on Standardization of Modal Space by Ratio for MDOF Micro-Macro Bilateral Teleoperation Control System

Jun Wei Lee,Zaki Bin Hj Shukor Ahmad,Herman Bin Jamaluddin Muhammad

doi:10.5539/mas.v10n11p98

Abstract

This paper presents the research on micro-macro bilateral teleoperation control system of two ink planar manipulator. The micro-macro bilateral control system consists of different size between 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 most common actuators used were linear motor and direct-drive DC motors. However, the application of DC motor with gearhead are vast in industry, which need high output force or torque. Thus in this paper, research on micro-macro bilateral teleoperation control system is proposed with the use of gear with the DC-motor. The micro-macro bilateral teleoperation control system provides the human operator with a sense of feel to a micro or macro environment as if it is in the same scale environment. Thus a standardization method is proposed to achieve micro-macro bilateral teleoperation control system. During the experiment, experiment on free motion and contact motion are conducted to validate the proposed setup in bilateral teleoperation control system. The position and torque responses of both master and slave manipulators are observed. The operationality and reproducibility of this proposed system are evaluated through proposed experimental results.

Highlights

Further application of bilateral control system is micro-macro bilateral teleoperation control system
The micro-macro bilateral teleoperation control system provides the human operator with a sense of feel to a micro or macro environment as if it is in the same scale environment
The singularity points according to end-effector are when the second joint is at 0° or 180°. In this part of the experiment, proposed micro-macro bilateral teleoperation control system is applied to two link planar manipulator master and slave system

Summary

Introduction

Further application of bilateral control system is micro-macro bilateral teleoperation control system. The slave system is generally large compared to master system. This is where the scaling technique is used for force and position between master and slave manipulator which is different in size. To manipulate micro object, the slave system is smaller while master system is the size of human operator. The human operator feels the reaction force as if they are touching the real micro or macro environment. It is effective for manipulation which cannot be operated directly. Micro-macro bilateral teleoperation system provides benefit in many fields such as industrial environment and medical applications. A micro-macro bilateral teleoperation is essential in medical field such as minimally invasive surgery (MIS) for brain surgery (Salcudean & Yan, 1994)

Results

Discussion

Conclusion