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Bachelor Thesis from the year 2012 in the subject Engineering -
Robotics, grade: A, National University of Sciences &
Technology (NUST School of Electrical Engineering and Computer
Science), language: English, abstract: 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
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