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Control 4DOF tele operation manipulator

Tele-operation manipulator (TM) is well-known as thebest solution for interacting between humans and the unsafe environment such as dangerous, toxic, infectious or sterile.In this study, a low cost TM system is introduced. In addition, the network control algorithms to overcome teleoperation are proposed. | Science Technology Development Vol 16 No.K2- 2013 CONTROL 4DOF TELE-OPERATION MANIPULATOR Tu Diep Cong Thanh University of Technology VNU-HCM Manuscript Received on April 5 . 2012 Manuscript Revised May 30h 2013 ABSTRACT Tele-operation manipulator TM is well-known as thebest solution for interacting between humans and the unsafe environment such as dangerous toxic infectious or sterile.In this study a low cost TM system is introduced. In addition the network control algorithms to overcome teleoperation are proposed. KEYWORDS Tela-operation Control LAN 1. INTRODUCTION Tele-Operation Manipulator TM system is a remote control manipulator consists of two arms the master and slave. Slave manipulator will be controlled to perform the same motion as master manipulator. To implement this control master manipulator will be controlled by human. The desired motion of the master manipulator will be recognized by sensors and these values will be transmitted via LAN to the slave manipulator controller. In 1898 Nikola Tesla made boat control model using radio in New York first to now the TM has a history of development over a century 1 . TM system as the first true master - slave is made a pure mechanical structure is benevolent R. Goertz late in 1940 at the National Laboratory Argone 2 . In 1954 Goertz s team developed the first electro mechanical manipulator with feedback servo control. With the development of more modern techniques the TM system appear in many areas more efficient service to people such as explosives detection arm of national defense and arm on the spacecraft the main in space 3 hand-picking machine of nuclear fuel in nuclear power industry the submersible manipulator on the seabed studies 4 and especially the type of arm surgery in remote health 5 . One of the outstanding research of robots for medical applications such as manipulator system for remote microsurgery institute KAIST Korea 6 and surgical manipulator system accuracy in medicine at the University