Master Slave Arm System for Telepresence T. Khalil.

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Presentation transcript:

Master Slave Arm System for Telepresence T. Khalil

Master Slave Arm System for Telepresence Why ? Is it new ? How ? For how long ? Interactive Telepresence New Technique Develop Complete System 32 out of 41 Months

Remote Site User Side System Components

Slave Arm (Mechanical Arm) (Sensor Suit) Master Arm Control & Communication Units System Features 5 Joints Anthropomorphic Light Weight Flexible Hardware Easy to Use Software Motor Driver TCP/IP Communication

Master Arm Design Fore Arm Shoulder Upper Arm Hand 6 Stepper Motors 5 Joints (DOF) Secondary Hand Joint

Motor Driver Power Supply Control Signals Board Power Distributing Board Master Arm Control Unit 6 Sensor Elements Link 3 Different types

Comm. Socket Read Sensors Calc. Speed Calc. Direction Generate Pulses Send Pulses Control Program VB5 on Windows Local Tasks Comm. Socket Read Sensors Call Listen Remote Tasks

Current Status On Schedule Behind Schedule Remote Hardware Software Development Local Hardware