Development of a force reflection master manipulator and graphic simulator

摘要

This paper presents the development of a force reflecting master manipulator and graphic simulator. The master manipulator has 6+1 DOF; 3 DOF for position control, 3 DOF for orientation control, and 1 DOF for end effector control. It is designed to be a well balanced and light one for reducing the heterogeneous feeling and physical fatigue of the human operator. Also, it is designed to have a large workspace. The graphic simulator is developed using Visual C++ and OpenGL in the Windows operating system. It can check the minimum distance between the slave manipulator and work environment. It can model the slave manipulator and work environment using the modeler in it or CAD software. This paper develops a virtual teleoperation system using the developed master manipulator and graphic simulator. In it, the graphic simulator is used to represent a virtual slave manipulator and working environment, and to supply a visual information to the human operator. It can be used for the validation of the effectiveness of the developed master manipulator.