Development Of Bilateral Master-Slave Telerobotic Arm Manipulator System

Lok, Chee Cong (2017) Development Of Bilateral Master-Slave Telerobotic Arm Manipulator System. Project Report. UTeM, Melaka. (Submitted)

Text Development Of Bilateral Master-Slave Telerobotic Arm Manipulator System - Lok, Chee Cong - 24 Pages.pdf - Submitted Version Download (173kB)

Abstract

Bilateral master-slave telerobotic arm manipulator system is an advanced technology used to helps human to interact with environments that are inaccesible to human, due to its remoteness or hazardous. The system has been used in different area such as telesurgery, exploring to space or sea exploration, and handling harzadous or explosive material. It is useful for development of science and society, however there is still not a common technology in Malaysia. The problem statement of this project is the time-delay occurred bilateral masterslave telerobotic arm manipulator system has degraded the system performance. Moreover, there is still do not have researchers implement the bilateral master-slave telerobotic arm manipulator system to an industrial robot in Malaysia which could be useful to the industrial development. Hence, objective of this project are to study the bilateral master-slave telerobotic arm manipulator system, develop it and applied it on industrial robot which is KUKA youBot, and finally analyse the performance and time-delay. However, in this thesis, it will present a development of bilateral master-slave telerobotic arm manipulator system to an industrial robot which is Kuka youBot in a simulation only. In methodology, simulation is carried out by using two software which are V-REP and python. Three controllers are used which are P, PD and PID on this system to compare their effect on the system. In the result, common mode and differential mode of bilateral system have been proved in the experiments. The result of experiments showed that the overall accuracy of the designed system is over 95% and time-delay between master and slave robot is merely about 0.2s, which showed a good performance. Through experiments, the best controllers have been chosen and the best value of proportional, derivative and integral term for controller has been identified. At last, through experiment findings, the best controllers to be used are PD and PID controller which PD controller is better in accuracy whereas PID controller has shorter time-delay. Hopefully, this research might give a little contribution to whether the education, industrial or society.

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