A mechatronic system with force feeling to increase the activity of manipulator control

摘要

In recent years the disappointment about the very slow progress in the area of sensor-based robot intelligence and autonomy has led to an increasing interest in master-slave systems. This teleoperational solution-developed by the Department of Mechanical Engineering of Banki Donat Polytechnic-is based on 6D force reflection. The joystick-like master arm with the hydraulic force percolation generated by the executive mechanism, connects the signal from the force perceptors and proceeding electronics to the controller of the proportional valves. The proportional valves transmit proportional pressure with the force generated at the final point of the manipulator to the force feeling valves of the master arm. The system also supplies the ability to select the force feeling and also the actuator control by degrees of freedom, but the force reflection can be stopped at any time by the operator. The force is visualised by a digital display. This paper is an overview of the master-slave development.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>