Design and Control of a Two Degree of Freedom Teleoperated Manipulator

2018 2nd International Conference on Artificial Intelligence Applications and Technologies

计算机科学

Mohsen, Magdi^1 ; Ibrahim, Khalil^2 ; Mohamed, Abdelfatah M.^3

Egypti and Rilling Company, Egypt^1

Department of Mechanical Engineering, Faculty of Engineering, Egypt^2

Electrical Engineering, Faculty of Engineering, Assiut University, Assiut, Egypt^3

关键词: Bilateral teleoperated manipulators;    Control techniques;    Critical tasks;    Design and control;    Network delays;    Slave manipulators;    Total delay time;    Two-degree of freedom;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/435/1/012061/pdf
DOI  :  10.1088/1757-899X/435/1/012061

学科分类：计算机科学（综合）

来源: IOP

【 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.