Design and Implementation Tele-operation System Based on the Haptic Interface

In this paper, we investigate the issues on the design and implementation of tele-operation system based on the haptic interface. The 3-DOF haptic device and the x-y-z stage are employed as master controller and slave system respectively. In this master-slave system, the force feedback algorithm, the modeling of virtual environments and the control method of x-y-z stage are presented. In this paper, Internet network is used for data communication between master and slave. We construct virtual environment of the real convex surface from the force-feedback in controlling the X-Y-Z stage and getting the force applied by the 3-DOF haptic device