Development Of A Virtual Force-Reflecting Scara Robot For Teleoperation
Teleoperation control methods have been studied for decades by several researchers. The testing systems used in these studies often consist of duplicates of the same robot. Deploying different robotic systems in teleoperation requires mapping between the motions of the two. This mapping should be optimized so that telemanipulation would get the maximum use of each system’s capabilities. This study presents an alternative slave system for an existing teleoperation system. A version of a SCARA robot is selected for this purpose. The task is to draw on or carve into the surfaces as motion commands are received from the operator. A parallel position/force controller is investigated and the mapping between the master input and the slave output is explained. The test results are presented for a specific task of the slave constructed in virtual environment. As a result, the designed slave showed that it is capable of following the commands sent from the master with the help of the mapping created. The parallel position/force controller also proved to be successful in following the trajectory and providing force reflection while maintaining stability.
KeywordsAdmittance Control Revolute Joint Slave System Cartesian Space Prismatic Joint
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