Interface Design and Performance Analysis for a Haptic Robot

摘要

Teleoperation systems are robot technologies that enable human-robot interaction. Haptic robots and interfaces are systems that allow you to feel, control, and organize objects in virtual environments that do not feel strength. With the development of computer hardware and human machine interfaces, researchers have incorporated virtual reality technology into interactive motion planning systems. Phantom omni robot has developed a haptic interface for interactive road planning verification and training. Based on the structural similarity between the six-degree-of-freedom Phantom Omni tactile device and the six-degree-of-freedom virtual slave robot arm, six DOF virtual robot rods driven by the Phantom Omni were modeled. Human robot interaction with the haptic-based virtual robot presented in the study was realized. As a result of the studies made, it is shown in the graphs that the reference master position, speed and force values are followed in great scale by the actual master robot-virtual slave robot by teleoperation. Consequently, a visual interface was created in this study and the position, velocity, and force control were performed by teleoperation. The performance results were given graphically and were found to be successful.