Force feedback anthropomorphic manipulator system

Date of Publication

2001

Document Type

Bachelor's Thesis

Degree Name

Bachelor of Science in Manufacturing Engineering and Management

College

Gokongwei College of Engineering

Department/Unit

Manufacturing Engineering and Management

Thesis Adviser

Mark Jansson L. Kho

Defense Panel Chair

Nilo T. Bugtai

Defense Panel Member

Nixon A. Ng
Lord Kenneth M. Pinpin

Abstract/Summary

The Force Feedback Anthropomorphic Manipulator basically consists of a sensor laced - glove connected to a feedback mechanism and a remote controlled anthropomorphic robotic manipulator. The glove is used as the input and feedback device for the operator. The remote-controlled robotic manipulator is used to reproduce the movement and duplicate the position of the glove. Any resistance to the movement of the remote manipulator will be transmitted to the glove via its feedback mechanism.

The thesis aims to explore position sensing as the primary step in the development of the force feedback system. Position sensing works by comparing glove's finger position to that of the manipulator's finger position. The difference positions will be used to determine the feedback movement to the glove.

It was found out that position sensing is limited in the sense that it does not proportionally transmit/convey the forces being experienced by the slave but only conveys the existence of an object being grasped by the slave manipulator. Position sensing must modified to transmit forces proportionally and be combined with tactile sensing in order to achieve a more realistic sense of touch.

Abstract Format

html

Language

English

Format

Print

Accession Number

TU15166

Shelf Location

Archives, The Learning Commons, 12F, Henry Sy Sr. Hall

Physical Description

1 v. (various foliations) : ill. (some col.) ; 28 cm.

Keywords

Robotics; Computer integrated manufacturing systems; Manipulators (Mechanism)

This document is currently not available here.

Share

COinS