Haptic Control Development of Robotic Arm

摘要

The aim of this work is to development of a master-slave system with haptic features, especially force feedback control of robotic arm. This system has a device to measure position when the master system interacts with virtual or real object; actuators devices in the master system are reflected force to the hand depending on the characteristics of the object. Impedance control was implemented based on haptic technology using LabVIEW. This system is composed of a haptic device, 5DOF robotic arm, Arduino Kit, and Laptop. The system was validated by several experimental tests involving Novint Falcon, virtual model and real object with different physical properties. The interaction between the hand and the virtual object is visually displayed according to the input displacement of the user. In the same time the interaction force is reflected to the user's hand through the haptic device.