The development of a five DOF magnetorheological fluid-based telerobotic haptic system

Farzad Ahmadkhanlou; Gregory N. Washington; Stephen E. Bechtel

doi:10.1117/12.776591

3 April 2008 The development of a five DOF magnetorheological fluid-based telerobotic haptic system

Farzad Ahmadkhanlou, Gregory N. Washington, Stephen E. Bechtel

Proceedings Volume 6926, Modeling, Signal Processing, and Control for Smart Structures 2008; 692604 (2008) https://doi.org/10.1117/12.776591
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2008, San Diego, California, United States

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.

Citation Download Citation

Farzad Ahmadkhanlou, Gregory N. Washington, and Stephen E. Bechtel "The development of a five DOF magnetorheological fluid-based telerobotic haptic system", Proc. SPIE 6926, Modeling, Signal Processing, and Control for Smart Structures 2008, 692604 (3 April 2008); https://doi.org/10.1117/12.776591

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