Microcontroller-operated anthropomorphic manipulator with haptic feedback

This article presents the design of a cluster-distributed computing system to operate and control an anthropomorphic manipulator with haptic feedback. The system hardware consists of four major building blocks, anthropomorphic manipulator, haptic sensor glove, real-time microcontroller-based cluster...

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Bibliographic Details
Published inRobotics and computer-integrated manufacturing Vol. 23; no. 1; pp. 63 - 70
Main Authors Al-Ali, A.R., Jarrah, M.A., Dhaouadi, R.
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.02.2007
Subjects
Anthropomorphic manipulator
Cluster-distributed computing
Embedded systems
Haptic feedback
Shared file system
Anthropomorphic manipulator
Cluster-distributed computing
Embedded systems
Shared file system
Haptic feedback
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Summary:This article presents the design of a cluster-distributed computing system to operate and control an anthropomorphic manipulator with haptic feedback. The system hardware consists of four major building blocks, anthropomorphic manipulator, haptic sensor glove, real-time microcontroller-based cluster distributed computing (CDC) network, and closed-loop controller. The system software architecture consists of three key operation modules, namely, the sensor glove, anthropomorphic manipulator and communication module. It is designed based on a shared file system concept which forms the foundation of the CDC protocol. The key advantages of this system are its novel structure and its comparatively low cost using microcontroller-based distributed cluster networks which allow large-scale expansion/integration.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:0736-5845
1879-2537
DOI:10.1016/j.rcim.2005.09.004