Applying Force-Reflection System for Robotic Telemanpulation

• Main Authors: Ming-Shu Lin, 林洺樞
• Other Authors: Kuu-Young Young
• Format: Others
• Language: zh-TW
• Published: 2005
• Online Access: http://ndltd.ncl.edu.tw/handle/8w98xd

碩士 === 國立交通大學 === 電機與控制工程系所 === 93 === As a dream, the robot is developed to be as capable as the human. However, due to the limitation of artificial intelligence and others, many tasks still demand the cooperation of human and machine. This motivates the development of the telerobotic system and telepresence. The telerobotic system is usually applied in the environment that is hazardous and unknown to human. And telepresence is intended to let people have a more realistic feeling of the remote environment. For this purpose, our laboratory has developed a VR-based networked telerobotic system. To enhance the developed telerobotic system, in this thesis, we develop a force-reflection system, which consists of joystick and gripper with force-reflection. By manipulating the joystick, the operator can yield the command, which in turn generate the torque to operate the gripper. While the gripper contacts with the object, the tactile sensor on the gripper finger may sense force information. The joystick will then transfer the force back to the operator. For demonstration, we apply this force-reflection system to accomplish the task of fragile object grasping.