Haptic Feedback systems are used to sense the vibrations, touch and force in many real world problems for example gaming, virtual reality, mobiles, automotive industry and robotic surgery. Our work involves the design and development of a robotic arm at slave end which includes force and current sensors that allows the operator to get force feedback at the master end. Three methods of feedback are generally used i.e. Force Sensitive Resistors for object detection, Current Sensing for force feedback and Position estimation to replicate motion. The three mentioned methods are analyzed using graphs developed on the PC.
Graphs are obtained by experiments on the gripper by using different objects. Master-Slave topology is used to attain some benefits over conventional control systems in term of ergonomics, accuracy and timing etc. There is an interactive GUI at master end to show us forces, size and motions at each joint of the slave unit. Along with the interactive GUI at master side, yaw and pitch motion of slave is also replicated at master end using master controller
Inhaltsverzeichnis (Table of Contents)
- Introduction
- Literature Review
- Tele-Robotic Surgery
- Haptics in Surgical Instruments
- Force Feedback Devices
- Tactile Devices
- SOFIE (Surgical Robot)
- Modules of Surgical System
- Master-Slave Robotic Surgery
- Master Unit
- Mechanical Work
- Electrical Work
- Functionality and Design
- Mechanical Structure & Equation Derivation
- Pro E Design
- Robotic Arm Components Description
- Forward and Backward Motion (‘R’)
- Vertical Motion (Z-Axis)
- Movement in XY Plane
- Electrical Components
- Maxon DC Motor with Encoder & Gearbox
- Force Sensor
- Transducer
- Robotic Arm Gripper
- H-Bridge Design
- Software Components
- Project Top Model PSOC Creator
- Microsoft Visual C#
- .NET Framework Platform Architecture
- Project Requirements for GUI
- Communication Methodology
- Communication Protocol
- Project Interface
- Visual Studio C# Code
- PSOC Code Explanation
- Mechanical Structure & Equation Derivation
- Implementation and Result Discussion
- Methods and Algorithm Used for Feedback
- Current Sensing
- Position Estimation (Digital Encoders)
- Object Detection Using FSR at Gripper
- Experiment Results and Their Analysis
- Hard Objects (Animal Bone)
- Soft Objects
- Semi Hard Objects (Animal Flesh)
- Methods and Algorithm Used for Feedback
- Future Recommendations and Conclusion
Zielsetzung und Themenschwerpunkte (Objectives and Key Themes)
The objective of this project was to design and implement a robotic arm manipulator with haptic feedback controlled by a programmable system-on-chip (PSoC). This involved integrating mechanical, electrical, and software components to create a functional robotic arm capable of providing force feedback to the user.
- Design and implementation of a robotic arm manipulator.
- Integration of haptic feedback for enhanced user interaction.
- Utilization of a PSoC for control and processing.
- Development of software for user interface and communication.
- Testing and analysis of the system's performance with different objects.
Zusammenfassung der Kapitel (Chapter Summaries)
Introduction: This chapter introduces the concept of robotic arm manipulators with haptic feedback and outlines the project's goals and scope. It sets the stage for the subsequent chapters by highlighting the importance of haptic feedback in robotic surgery and similar applications, emphasizing the need for precise control and real-time interaction. The chapter likely provides background information on the limitations of existing systems and positions the current project within the broader context of robotic manipulation technology.
Literature Review: This chapter reviews existing literature on tele-robotic surgery, haptic feedback in surgical instruments, and the different modules of surgical systems. It examines various force feedback and tactile devices, exploring their strengths and limitations. The review likely includes a detailed analysis of existing robotic surgical systems, focusing on their design principles, functionalities, and technological advancements. It provides context for the chosen design and functionality of the proposed robotic arm.
Functionality and Design: This chapter delves into the mechanical and electrical design of the robotic arm, including detailed descriptions of the components used, such as the Maxon DC motor, force sensor, and H-bridge. It explains the mechanical structure, the equations governing its motion, and the software used for control, including Pro E design software and the Microsoft Visual C# programming language. It also details the communication protocols and interface between the hardware and software components. This section is crucial for understanding the functionality and engineering principles behind the robotic arm.
Implementation and Result Discussion: This chapter presents the implementation details, algorithms used for feedback (current sensing, position estimation, object detection), and the experimental results obtained during testing with various objects (hard, soft, semi-hard). It analyzes the system's performance in terms of accuracy, responsiveness, and the effectiveness of the haptic feedback mechanism. This section provides crucial insights into the practical application of the robotic arm and its overall effectiveness.
Schlüsselwörter (Keywords)
Robotic arm manipulator, haptic feedback, programmable system-on-chip (PSoC), tele-robotic surgery, force feedback, tactile devices, Maxon DC motor, force sensor, H-bridge, Microsoft Visual C#, .NET framework, object detection, current sensing, position estimation.
Frequently Asked Questions: Robotic Arm Manipulator with Haptic Feedback
What is the overall goal of this project?
The project aims to design and implement a robotic arm manipulator with haptic feedback controlled by a programmable system-on-chip (PSoC). This involves integrating mechanical, electrical, and software components to create a functional robotic arm capable of providing force feedback to the user.
What are the key themes explored in this document?
Key themes include the design and implementation of a robotic arm manipulator, integration of haptic feedback, utilization of a PSoC for control, software development for user interface and communication, and testing and analysis of the system's performance with different objects.
What are the main chapters and their content?
The document is structured into several chapters: An Introduction setting the context and goals; a Literature Review examining existing research on tele-robotic surgery and haptic feedback; a section on Functionality and Design detailing the mechanical, electrical, and software components; an Implementation and Result Discussion chapter presenting the implementation, algorithms, and experimental results; and finally, a chapter on Future Recommendations and Conclusion.
What specific hardware components are used in the robotic arm?
Key hardware components include a Maxon DC motor with encoder & gearbox, a force sensor, a transducer, a robotic arm gripper, and an H-bridge. The mechanical structure is designed using Pro E.
What software components are used?
The software components include Project Top Model PSOC Creator, Microsoft Visual C#, and the .NET Framework Platform Architecture. The project utilizes C# code for the GUI and PSOC code for microcontroller programming. Specific details on communication protocols and project interface are also provided.
What types of feedback mechanisms are implemented?
The system uses current sensing, position estimation (via digital encoders), and object detection using Force Sensing Resistors (FSRs) at the gripper to provide haptic feedback.
What were the experimental results and how were they analyzed?
The experimental results involved testing the robotic arm's performance with various objects: hard objects (animal bone), soft objects, and semi-hard objects (animal flesh). The analysis focuses on accuracy, responsiveness, and the effectiveness of the haptic feedback.
What keywords best describe this project?
Relevant keywords include: Robotic arm manipulator, haptic feedback, programmable system-on-chip (PSoC), tele-robotic surgery, force feedback, tactile devices, Maxon DC motor, force sensor, H-bridge, Microsoft Visual C#, .NET framework, object detection, current sensing, position estimation.
- Quote paper
- Muhammad Yaqoob (Author), Sardar Rushan Sher Qaisrani (Author), Muhammad Waqas Tariq (Author), 2012, Robotic Arm Manipulator with Haptic Feedback Using Progammable System on Chip, Munich, GRIN Verlag, https://www.grin.com/document/263107
