Real-Time Remote Controller Design for Haptic Manipulator with Real Object Feedback

• Main Authors: ZENG,JHE-WEI, 曾哲瑋
• Other Authors: HUANG,CHIN-I
• Format: Others
• Language: zh-TW
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/j476g3

碩士 === 國立高雄第一科技大學 === 電機工程研究所碩士班 === 106 === Recently the development of visual and audio are very mature so that the tactile sensation becomes to the trend of recent study in virtual reality. Because advances in the development of network communication technologies, the real-time remote control haptic robots through the network have become more widespread. Recording deformation and force of the objects when real objects are subjected to an external force to find approximate model of the force feedback of real objects. Then, the Taguchi method is employed to verify the force feedback model similarity for real objects. Finally, this study was used to remote control of a haptic robot arm. The purpose of using network to achieve remote position and force feedback control. When user touches a real object with a tactile sensor at the remote end, it can be obtained force feedback for real objects in real-time.