| Summary: | 碩士 === 國立臺灣科技大學 === 機械工程系 === 103 === In this thesis, a five degrees of freedom industrial robotic arm slave mechanism is connected with select a three degrees of freedom haptic device to constitute a telecontrol system.
User can operate haptic device for sending the position and force output information for the slave side mechanical arm for reproducing the correcting position and force; In addition user can operate haptic device to command the slave side mechanical arm output position information, and end-effecter force sensor of the mechanical arm will feedback the slave side’s force information to master haptic device for correlating their tactile feeling.
Master side is a PC-Based control Novint Falcon haptic device operation. The position and force information of the handle is feedback signal on haptic device’s encoder and piezoresistive force sensor to the slave side robotic control system.
The ALTERA FPGA is related at the Slave side robotic arm control architecture. The Nios II development board uses digital hardware circuits to implement signal acquisition and output control function. FPGA digital hardware contain decoder, filter, PWM,I^2 C, IR and SDRAM controller etc. Nios II software contain user interface, kinematics formula, FSMC algorithm and Jacobian matrix calculation of each axis torque. The position/force hybrid control is employed to achieve force and position control task.
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