Fault Diagnosis and Force Feedback System of Manipulator for Forest Operation Based on Position Difference

Abstract

In this paper, the author mainly researches on the position-position difference based haptic force
feedback system of fault diagnosis manipulator for forest operation. Master and slave surgical
system is designed to check results in terms of position and velocity in this paper. The results
have stability, reliability and repeatability in terms of position and velocity without any force
feedback element. The new features are introduced in this paper for producing haptic force
feedback element at master handheld device. This architecture is same as in this paper master
slave systems, Position-Position Difference control strategy is applied to establish force
feedback. The small change in slave manipulator for performing procedures such as needle
injecting and ejecting, are discussed. The update control strategy is designed to produce
transparent force feedback in terms of position difference for operator/surgeon.