Research and development of 18-DOF master-Slave robotic systems

Abstract

This paper introduces the new design and control of a master-slave
system consisting of 18-DOF robot hand-arm and an 18-DOF haptic
hand-arm. Both the robot hand and the haptic hand are designed to
have 12-DOF and four fingers. Dimensions of the robot hand are
closer to those of a human hand so the fingertip positions of human
can be transferred to the fingertips of the robot hand. The haptic hand
is combined with a 6 DOF haptic device to make a 18-DOF master
system while the robot hand is assembled with a 6 DOF serial robot
to make 18-DOF slave system. A control system is developed to
control the positions of the slave robot as well as to control the forces
of the haptic master.