The Use of Force Feedback to Control the Robot During Drilling

Abstract

The article proposes the use of a joystick with the so-called force feedback, called in the English-language terminology as “haptic”, to control a small robot. First, the haptic-type joysticks are briefly described and then their applications in robotics and in teleoperation application are presented. A laboratory stand designed to control a small robot performing drilling operations was described. Signal changes during the drilling process performed by the robot in the conditions of teleoperation controlled by a joystick with magnetorheological brakes were recorded. These signals were compared when the force feedback system was used and when it was not used.