The Implementation of Bilateral Control Symmetrical Position, Force Reflection and Feedback Force on the Haptic Manipulator

Farlinda, Sustin and Permatasari, Vita and Fahriannur, Ahmad (2020) The Implementation of Bilateral Control Symmetrical Position, Force Reflection and Feedback Force on the Haptic Manipulator. Journal of Physics: Conference Series, 1569 (3). 032062. ISSN 1742-6588

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Abstract

Humans often encounter obstacles in doing their work. Especially if the work is related to an emergency situation that concerns the safety of human life, it needs quick and appropriate handling. Telerobotic technology that has a haptic function is one solution to these problems. In this study a system of 1 DOF haptic manipulator with slave master configuration was developed using bilateral haptic manipulator control. In bilateral control the position and information are transmitted in two directions between two manipulators. Position information is obtained using a potentiometer and force information is obtained by representing the force with the current using the WCS2702 sensor. There are three control methods used, namely bilateral symmetrical position control, bilateral reflection force control and force feedback bilateral control. The best method of control is the bilateral feedback force control. In the force feedback bilateral control system, the slave can move following the master movement with a ± 2° position error. When the slave arm is held by a hard object, the master arm is also restrained with ± 11° position error. Whereas when the slave arm is held by a soft object, the reflection of the object is felt by the master arm with ± 10 position error. Movement of the master and slave arms is lighter than using bilateral control of symmetrical position.

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