Data flow in a master-slave manipulator


The use of remotely operated robots and other mechanical devices as replacements of human workers in hazardous environments is a growing field of research. The same was explained in detail by Professor Sudipto Mukerjee of IIT Delhi. He mentioned that an exoskeleton developed at IIT Delhi has 7 degree of freedom and is worn on the human arm. He spoke at length  about the algorithms that have been used to map the kinematics, data shaping and the resulting performance of the system.

He explained in detail that the  master-slave manipulators have been extensively used in the nuclear industries for more than four decades. There, however, are still few successful implementations of complex and high degree-of-freedom systems .He highlighted the challenges regarding sensors precision and compliant design.  

He explained that the master manipulator is an input device which interfaces with the human operator on one side and with the slave manipulator on the other. Bilateral force-reflecting control plays a key supporting role in successful dexterous manipulation of the master-slave manipulators. Great increases in performance of the master-slave manipulator system can be achieved through good design of mechanical hardwares and proper implementation of the embedded control strategies.

He concluded by explaining in detail the various means of eliminating Jitter

Some exiting photographs used in his deliberation is attached as under