Development a Force Feedback Control of Robot Manipulator

This paper presents the development of a master/slave tele-operation system with haptic features. The force feedback control of robotic arm is developed. The proposed system consists of a Novint Falcon haptic device as a master and SCARA robot arm as a slave. The master system has a device to measure position when the master system interacts with virtual or real object; actuators devices in the master system are reflected force to the hand depending on the characteristics of the object. Impedance control was implemented based on haptic technology using LabVIEW. This system is composed of a haptic device, SCARA, Arduino Kit, and PC. The system was validated by several experimental tests involving Novint Falcon and real object with different physical properties. The interaction between the hand and the real object is visually displayed according to the input displacement of the user. The developed system proved experimentally to have good tracing characteristics in the fine manipulation mode.