| Summary: | 碩士 === 長庚大學 === 機械工程研究所 === 98 === The purpose of this study is to develop a prototype master-slave robotic arm system intended for remote surgery applications. The arm is of 5 DOF serial-linkage type, suspended upside-down from an aluminum frame. A passive mechanism proportional to the arm, equipped with encoders in each joint, was built as master. Pose of the master mechanism is defined by readings of the encoders, which are then low-pass filtered as instant commands for the slave arm to follow. Due to the limitation of the PCI-1240 control card, new commands can not be sent to the motor drivers during their execution. This problem is alleviated by reducing velocity and acceleration to moderate values to tolerate idle intervals and ensure smooth movement. Furthermore, working area of the robotic arm is equipped with a camera for real-time monitoring to improve the safety and accuracy of operations.
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