Haptic System Interface Design and Modelling for Bilateral Teleoperation Systems

摘要

Creating autonomous robots to assist humans in their daily activities has been one of the important innovations of robotic research. In this paper, a 2-dimensional movement platform of the haptic feedback interface for human machine systems is developed including DC motors and ball screws as the core components. The platform is inclusive in the complete haptic feedback teleoperation systems, which display remote sensing data to the operators in the forms of force and vibration. The remote objects/environment can be actual devices/machines or just computer simulations, such as virtual reality. The proposed platform helps to mimic various interactions between the concerned remote object and corresponding environment. Lagrange method is applied to model the mechanical-electrical system. The developed model is simulated and compared with the hardware platform. The time domain responses obtained from both mathematical models and platform validate the established prototype.