Development of master-slave exoskeleton system with haptics control | |
| Author | Khin Yadana Kyaw |
| Call Number | AIT Thesis no.ISE-20-19 |
| Subject(s) | Robotic exoskeletons Haptic devices Production control |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics Engineering |
| Publisher | Asian Institute of Technology |
| Abstract | In this thesis, a bilateral master slave teleoperation system with two non-identical robots”. are designed and investigated. through simulations and results. It is a bilateral system. because the slave robot follows the position and orientation. of the “master robot” whereas the master will sense the reaction force when the slave robot is in touch with an environment. Therefore, master-controller and slave- controller” are developed. to make sure high performance. Force controller is involved in the master controller to control the “force feedback. In the slave controller proposed PID controller with lead compensator is implemented to control position. NRF24L01 transceiver module is used in order to make a wireless communication between master and slave micro-controllers. |
| Year | 2020 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun |
| Examination Committee(s) | Mongkol Ekpanyapong;Pisut Koomsap |
| Scholarship Donor(s) | Asian Institute of Technology Fellowship |
| Degree | Thesis (M. Eng.) -- Asian Institute of Technology, 2020 |