Control of robotic arm manipulator with haptic feedback using programmable system on chip

摘要

Programmable system on chip (PSoC) is used to control six degree of freedom robotic arm manipulator with haptic or force feedback system. Polar coordinates system is used to cover three dimensional space by robotic arm manipulator. Primarily use of this system is in intelligent industrial manufacturing, gaming industry and most importantly robots assisted surgery. Master-slave control topology is used along with 2-way feedback. PSoC is used to monitor state of force sensors and digital encoders mounted on robotic manipulator. Along with monitoring it also used to manipulate these values according to 2-way feedback between master-slave control topology. Experimental results representing force feedback are shown in the graphical userinterface.