Design and Developement of a master slave teleoperated robot

This project involves developement of a master-slave teleoperated robot which can meet some of national requirements in teleoperator technology and can act as a steping stone in the nascent area of 'telerobotics'. A slave robot which can execute possible motions of human arm is selected. A kinematically equivalent master arm with good hand adaptability is fabricated. Master arm joint parameters are sensed with position sensors and ADC. A control software which converts ADC output to joint parameters of the slave and executes interpolated motion between sample points was developed. The overall system was realised and tests were conducted to evaluate the performance. Finally suggestions for future extension programmes are made.

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