HRI
The development of a five DOF magnetorheological fluid-based telerobotic haptic system
Farzad Ahmadkhanlou, Gregory Washington, Stephen E. Bechtel
- Year
- 2008
- Citations
- 7
Abstract
The overall goal of the research conducted in this paper is to develop next generation force feedback systems by combining novel Magnetorheological (MR) fluid based systems with microstructural analysis and advanced control system design. A novel 5-DOF MR fluid-based robotic arm is designed and prototyped. The 5-DOF system is used to control a remote 5-DOF robot (the slave). Force feedback control is employed to replicate in the master those forces encountered in the slave.
Keywords
Magnetorheological fluidHaptic technologyTeleroboticsRobotControl systemComputer scienceSimulationControl engineeringTeleoperationReplicate
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