Force And Position Based Haptic Bilateral Control System For Single Joint Robotic Arms

• Main Author: Mansor, Nuratiqa Natrah
• Format: Thesis
• Language: English; English
• Published: 2019
• Subjects: TJ Mechanical engineering and machinery
• Online Access: http://eprints.utem.edu.my/id/eprint/24687/1/Force%20And%20Position%20Based%20Haptic%20Bilateral%20Control%20System%20For%20Single%20Joint%20Robotic%20Arms.pdf; http://eprints.utem.edu.my/id/eprint/24687/2/Force%20And%20Position%20Based%20Haptic%20Bilateral%20Control%20System%20For%20Single%20Joint%20Robotic%20Arms.pdf; http://eprints.utem.edu.my/id/eprint/24687/; https://plh.utem.edu.my/cgi-bin/koha/opac-detail.pl?biblionumber=116940

Haptics applying manipulation of touch sensation with the interaction of computer applications, machines or human touch. However, robots that used haptics’ movement control are set up in lab-range and undevoted to works in substantial way particularly because of size factor and limited workspace. Majority of invented robot cannot recognize the surfaces textures on the object that they are handling. Application of the common force sensors have a lot of limitations and handicap to the system. There are some uncertainties, instability and delay occurred in the system. This research embarks to design a model of bilateral master-slave haptic system and simulate with controllers of Proportional (P), Proportional-Derivative (PD) and Proportional-Integral-Derivative (PID) also implementation of Disturbance Observer (DOB) and Reaction Force Observer (RFOB). Next, analyze the ability and performance of the proposed controller in terms of position and force reading on single joint. To cut cost and duration, a small, commercial industrial robot is used as mechanism to work with haptic bilateral control system. Additionally, DOB and RFOB managed to transmit vivid force sensation by rejecting disturbance force and attain a robust motion control. Literally, the system is required to adjust according to the target position and compensate the forces earn from surrounding. Observation and study on the feedback of new adaptive design method DOB and RFOB is presented to compare with the conventional controller P, PD, and PID inside a bilateral control system. The performances of the proposed design are measured inside a simulation platform. From experiments, results signified that Kp=5, Kd=0.1 is the best value for PD and Kp=5, Ki=0.001, Kd=0.1 for PID. System employed with observers are more accurate and faster when ωn=50 for Differential Mode and ωn=500 for Common Mode. Apart from that, this research is potential to be apply on surgical robots or manufacturing for industry.