Comparison of a Traditional Control and a Force Feedback Control of the Robot Arm During Teleoperation

Marcin Chciuk; Andrzej Milecki; Paweł Bachman

doi:10.1007/978-3-319-54042-9_25

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Title

Comparison of a Traditional Control and a Force Feedback Control of the Robot Arm During Teleoperation

Authors

Marcin Chciuk
Andrzej Milecki (WBMiZ) ^{[ 1 ][ 2.9 ][ P ]}
Paweł Bachman

^{[ 1 ]} Instytut Technologii Mechanicznej, Wydział Budowy Maszyn i Zarządzania, Politechnika Poznańska | ^{[ P ]} employee

Scientific discipline (Law 2.0)

[2.9] Mechanical engineering

Year of publication

2017

Chapter type

chapter in monograph / paper

Publication language

english

Keywords

EN

control
robot arm
manipulator
joystick
force feedback
haptic
magnetorheological fluid

Abstract

EN The article describes the manual control system of robot arm using the joystick with magnetorheological brakes, during which the operator observed the robot work with the use of cameras. The construction of the investigations stand, system kinematics and control algorithm were described. In the final part of the article the results of scientific research for the two control variants: the classical one and with force feedback one were discussed and compared.

Date of online publication

01.03.2017

Pages (from - to)

277 - 289

DOI

10.1007/978-3-319-54042-9_25

URL

https://link.springer.com/chapter/10.1007/978-3-319-54042-9_25

Book

Automation 2017 : Innovations in Automation, Robotics and Measurement Techniques

Presented on

International Conference on Automation, ICA 2017, 15-17.03.2017, Warszawa, Polska