This study proposes a technique utilizing virtual information instead of real information in a teleoperated wiping operation. A teleoperation system composed of a master manipulator, a slave manipulator, and a real-time control system is used for this...
This study proposes a technique utilizing virtual information instead of real information in a teleoperated wiping operation. A teleoperation system composed of a master manipulator, a slave manipulator, and a real-time control system is used for this study. Both the master and slave manipulator have a kinematic structure effectively conveying and following the operator’s command respectively. The master manipulator uses DC servo motors to do a major role for counter balancing. A force sensor attached at the end of the slave manipulator’s end effector is used to measure a contact force. MATLAB/xPC Target is used for real-time control of the teleoperation system in Windows OS. This study proposes algorithms for generating the virtual force and the virtual velocity. They are generated as the master manipulator’s grip moves up and down, and back and forth. A force-force control technique proposing in this paper uses the virtual force as a reference input for the contact force control, and uses the virtual velocity as a reference input for control the slave manipulator’s horizontal movement. A PID controller is used as a local controller for the contact force control. In order to show the effectiveness of the proposing force-force control technique, experiments are performed on a plastic plate with two bumps.