Development Of Force Feedback Control Architecture Of Robot With Haptic ARM

Abstract

Efficient control of manipulators is based on the accurate tracking of the user commands and the respective actuation achieved at the manipulator joint. The user command can be provided either digitally by specifying the required joint angle using a computer interface or by using a ‘man in the loop operation’, wherein the operator uses a master arm to control the robotic hardware to create a Master-Slave assembly.

In order to provide the operator with a sense of the load being experienced by manipulator, a force feedback master arm is used. This master arm gives a reverse torque, proportional to the load on the manipulator, at its joints. This is achieved by measuring the amount of current drawn by the manipulator joint during operation and calibrating the proportional magnetic braking at the master arm joint using a real time electronic interface.

The objective of the project is to develop the control architecture using a Master-Slave unit. The real time current feedback for various loading conditions from the manipulator will be provided to a control system which will process the data to generate the required magnetic torque at the axes of an available haptic master arm. The project involves design of control algorithms, feedback algorithms and realization of a prototype system.