Cover Image

Investigation On Mdof Bilateral Teleoperation Control System Using Geared Dc-Motor

This paper presents the research on bilateral teleoperation control system of two link planar manipulator. The bilateral control system consists of master and slave system using geared DC-motor. Both master and slave manipulators are actuated by DC-Micromotor attached to planetary gearhead to increa...

Full description

Saved in:
Bibliographic Details
Main Authors: Lee, Jun Wei, Shukor, Ahmad Zaki, Jamaluddin, Muhammad Herman
Format: Article
Language:English
Published: Canadian Center of Science and Education 2016
Subjects:
Q Science (General)
Online Access:http://eprints.utem.edu.my/id/eprint/18137/2/61863-219465-2-PB.pdf
http://eprints.utem.edu.my/id/eprint/18137/
http://ccsenet.org/journal/index.php/mas/article/view/61863
http://dx.doi.org/10.5539/mas.v10n11p54
Tags: Add Tag
No Tags, Be the first to tag this record!
id my.utem.eprints.18137
record_format eprints
spelling my.utem.eprints.181372021-07-19T16:59:29Z http://eprints.utem.edu.my/id/eprint/18137/ Investigation On Mdof Bilateral Teleoperation Control System Using Geared Dc-Motor Lee, Jun Wei Shukor, Ahmad Zaki Jamaluddin, Muhammad Herman Q Science (General) This paper presents the research on bilateral teleoperation control system of two link planar manipulator. The bilateral control system consists of master and slave system using geared DC-motor. Both master and slave manipulators are actuated by DC-Micromotor attached to planetary gearhead to increase the output torque. In the previous researches, the common used actuators were linear motors and direct drive DC motor. However, the application of DC motor with gearhead is vast in industry, due to the need for high output force or torque. Thus in this paper, a deeper research on bilateral teleoperation control system is proposed with implementation of gear into the DC-motor. The modelling of multi-degrees-of-freedom (MDOF) bilateral teleoperation control system is designed with the implementation of workspace observer (WOB), reaction force observer (RFOB), position controller and force controller. During the experiments, free motion and contact motion were conducted to validate the proposed setup in bilateral teleoperation control system. The position and torque responses of both master and slave manipulators were observed. The operationality and reproducibility of this proposed system were evaluated through experimental results. Ultimately, this paper focused on the performance of the proposed setup and is analysed by using reproducibility and operationality. Canadian Center of Science and Education 2016-07 Article PeerReviewed text en http://eprints.utem.edu.my/id/eprint/18137/2/61863-219465-2-PB.pdf Lee, Jun Wei and Shukor, Ahmad Zaki and Jamaluddin, Muhammad Herman (2016) Investigation On Mdof Bilateral Teleoperation Control System Using Geared Dc-Motor. Modern Applied Science, 10 (11). pp. 54-66. ISSN 1913-1844 http://ccsenet.org/journal/index.php/mas/article/view/61863 http://dx.doi.org/10.5539/mas.v10n11p54
institution Universiti Teknikal Malaysia Melaka
building UTEM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknikal Malaysia Melaka
content_source UTEM Institutional Repository
url_provider http://eprints.utem.edu.my/
language English
topic Q Science (General)
spellingShingle Q Science (General)
Lee, Jun Wei
Shukor, Ahmad Zaki
Jamaluddin, Muhammad Herman
Investigation On Mdof Bilateral Teleoperation Control System Using Geared Dc-Motor
description This paper presents the research on bilateral teleoperation control system of two link planar manipulator. The bilateral control system consists of master and slave system using geared DC-motor. Both master and slave manipulators are actuated by DC-Micromotor attached to planetary gearhead to increase the output torque. In the previous researches, the common used actuators were linear motors and direct drive DC motor. However, the application of DC motor with gearhead is vast in industry, due to the need for high output force or torque. Thus in this paper, a deeper research on bilateral teleoperation control system is proposed with implementation of gear into the DC-motor. The modelling of multi-degrees-of-freedom (MDOF) bilateral teleoperation control system is designed with the implementation of workspace observer (WOB), reaction force observer (RFOB), position controller and force controller. During the experiments, free motion and contact motion were conducted to validate the proposed setup in bilateral teleoperation control system. The position and torque responses of both master and slave manipulators were observed. The operationality and reproducibility of this proposed system were evaluated through experimental results. Ultimately, this paper focused on the performance of the proposed setup and is analysed by using reproducibility and operationality.
format Article
author Lee, Jun Wei
Shukor, Ahmad Zaki
Jamaluddin, Muhammad Herman
author_facet Lee, Jun Wei
Shukor, Ahmad Zaki
Jamaluddin, Muhammad Herman
author_sort Lee, Jun Wei
title Investigation On Mdof Bilateral Teleoperation Control System Using Geared Dc-Motor
title_short Investigation On Mdof Bilateral Teleoperation Control System Using Geared Dc-Motor
title_full Investigation On Mdof Bilateral Teleoperation Control System Using Geared Dc-Motor
title_fullStr Investigation On Mdof Bilateral Teleoperation Control System Using Geared Dc-Motor
title_full_unstemmed Investigation On Mdof Bilateral Teleoperation Control System Using Geared Dc-Motor
title_sort investigation on mdof bilateral teleoperation control system using geared dc-motor
publisher Canadian Center of Science and Education
publishDate 2016
url http://eprints.utem.edu.my/id/eprint/18137/2/61863-219465-2-PB.pdf
http://eprints.utem.edu.my/id/eprint/18137/
http://ccsenet.org/journal/index.php/mas/article/view/61863
http://dx.doi.org/10.5539/mas.v10n11p54
_version_ 1706960909931380736
score 13.211869

Similar Items