Development of ethernet based tele-operation systems using haptic devices

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 a master controller and a 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 our research, the Ethernet network is used for data communication between the master and slave controllers. 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. (c) 2004 Elsevier Inc. All rights reserved.