Graduation Year
2015
Document Type
Thesis
Degree
M.S.M.E.
Degree Name
MS in Mechanical Engineering (M.S.M.E.)
Degree Granting Department
Mechanical Engineering
Major Professor
Redwan Alqasemi, Ph.D.
Committee Member
Rajiv Dubey, Ph.D.
Committee Member
Kyle Reed, Ph.D.
Keywords
Redundancy, Manipulator, Robot, Motion-‐planning, Force Feedback
Abstract
A teleoperated system of dual redundant manipulator will be controlled in this thesis. The robot used with the dual redundant manipulator in this thesis is Baxter. Baxter’s redundant robot arms are 7-degree-of-freedom arms. The problem that will be solved in this thesis is optimization of the 7-degree-of-freedom robot arms. The control algorithm of the 7-degree-of-freedom robot arms will be discussed and built. A simulation program will be built to test the control algorithm. Based on the control algorithm, a teleoperation system will be created for Baxter. The controller used is Omni, which is a six-joint haptic device. Omni will also be used to give force feedback upon collision while the user is controlling the robot. Hence, a collision force feedback system is going to be created and combined with the teleoperation system. The teleoperation system will be tested in common daily applications.
Scholar Commons Citation
Wang, Yu-Cheng, "Dual 7-Degree-of-Freedom Robotic Arm Remote Teleoperation Using Haptic Devices" (2015). USF Tampa Graduate Theses and Dissertations.
https://digitalcommons.usf.edu/etd/5793
