Design of a teleoperated mobile robot with force feedback mechanism

This research work presents the design and the manufacture of a teleoperated mobile robot with force feedback mechanism. A 5 DOF ?Master? and a 4 DOF ?Slave? robot arm were designed. Due to high expenses are required to develop a system to control these kinds of mechanisms, designing an alternative method is the main goal of the project. Unlikely other applications on force feedback mechanisms, stepper motors are used as actuators. The step motion of the motors are taken as the basics of the new genarated algorithm. The measured angle values are sent from Slave to the Master robot arm for position and force feedback control. The resistive forces in slave arm can be sensed by the master arm with a new proposed algorithm.