Exoarm manipulator-power arm recyclobot

• Main Authors: Armas, Robert Anthony M., Chua, Samuel S., Gonzales, Noel A., Ren, Derwin M., Tan, Mark Lawrence V.
• Format: text
• Language: English
• Published: Animo Repository 1997
• Subjects: Manipulators (Mechanism); Robotics; Robots; Industrial; Software engineering; Engineering
• Online Access: https://animorepository.dlsu.edu.ph/etd_honors/106
• Institution: De La Salle University

Teleoperated manipulators, or master-slave manipulators is a robotic system in which there is a man-machine interaction (human, computer, manipulator). The study presents building a functional master-slave manipulator whose primary feature is that their master and slave manipulator designs are kinematically alike due to which the motions performed by the master arm (exoarm manipulator) are duplicated by the slave manipulator (power arm). The aim of the study is to use a unilateral digital feedback control system to determine the position of the master-slave manipulator. Unilateral in that the master is activated and the slave replicates the motion but does not report back to the master any unexpected event. Though, the master sees the actions of the slave and counteracts motions directly. The result is a fully functional, economically fabricated master-slave manipulator. The slave arm is a small scale model of the human arm that follows the motion of the master arm. The accuracy and repeatability of the master manipulator and slave manipulator is generally dependent on the mechanical assembly and feedback system. It was also determined that there is a significant delay in the response time. Finally, load capacity is not considered.