Paper Info
Title
Wireless Master-Slave Embedded Controller for a Teleoperated Anthropomorphic Robotic Arm with Gripping Force Sensing
Abstract
This paper details the design and development of a control rig to intuitively manipulate an anthropomorphic robotic arm using a master-slave control methodology. The control rig is fitted to the user's arm and the forces exerted by the robotic arm's various joints are fed back to the user. Of special significance is the force feedback from the slave when its gripper is in contact with a real object. Several methods of force sensing have been explored and detailed. The effectiveness of the proposed method is confirmed by experiments on a commercially available robotic arm which is controlled by a prototype 6-DOF master unit. The robotic arm mimics the dexterity of the human hand and wrist. The proposed master control unit is cost-effective and will have wide ranging applications in the fields of medicine, manufacturing, security, extreme- environment, entertainment and ROV (Remotely Operated Vehicle) teleoperation in undersea recovery or extraterrestrial exploration vehicle.
Year
DOI
Venue
2006
10.1109/ICNICONSMCL.2006.228
ICN/ICONS/MCL
Keywords
Field
DocType
control rig,remotely operated vehicle,prototype 6-dof master unit,teleoperated anthropomorphic robotic arm,master-slave control methodology,proposed master control unit,force feedback,wireless master-slave,available robotic arm,anthropomorphic robotic arm,robotic arm,gripping force sensing,remotely operated vehicles,cost effectiveness,robot arm,master slave,wireless sensor networks
Teleoperation,Remotely operated underwater vehicle,Robotic arm,Embedded controller,Simulation,Computer science,Control unit,Master/slave,Grippers,Haptic technology
Conference
ISBN
Citations 
PageRank 
0-7695-2552-0
2
0.68
References 
Authors
5
4
Name
Order
Citations
PageRank
G. Sen Gupta1344.49
R. Paddison220.68
C. H. Messom3356.04
Demidenko, S.43011.55