Design and Control of a Two Degree of Freedom Teleoperated Manipulator

摘要

This paper deals with the problem of position-tracking of bilateral teleoperated manipulators, especially that performs difficult and critical tasks such as under water works usually done using ROV manipulators. A workspace-control system was developed to aid the operator in controlling and driving the slave manipulator. The proposed control technique referred to replacing tradition, master robot that was used for human input commands, with workspace station, consisting of a computer, mouse or joystick as an input device. A wireless UDP network was held between the master and slave manipulator. A PD controller with two different software architecture were applied. We proved experimentally that with parallel executing of two loops in the software architecture, we could achieve total delay time in the system around 90 milliseconds and get a good position tracking of the slave manipulator with system stability even with presence of network delays.