Design and Implementation of Force-feedback System via Ethernet

In this paper, we investigate the issues for the design and implementation of tele-operated force-feedback system via Ethernet. Here, the 2-DOF haptic device and the x-y 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 stage with linear motors are proposed. In this paper, Ethernet network is used for data communication between master and slave. We construct virtual environment of the real wall from the force-feedback in controlling the x-y stage and getting the force applied by the 2-DOF haptic device.