Teleoperation System with Force Feedback Joystick in Virtual Reality

The key function of the teleoperation system is to support the operator to perform complex, uncertain tasks in hazardous and less structured environments, such as space, nuclear plants, battlefield, surveillance, and underwater operations. In this study a teleoperation system was designed by force feedback joystick, sliding mode non-linear controller and 2 degree of freedom revolute joint robot in Virtual Reality environment. Two inter-sectioned rigid walls were designed as an obstacle to simulate master/slave collision. The Virtual Reality Modeling Language (VRML) was used to display 3D objects with VRML viewer. Objects shape and appearance, motion, kinematic modeling and stiffness were designed. Simultaneous force and vision feedback helped operator to drive robot after collision, successfully. Sliding mode controller parameters K and L achieved to optimal values by grid-search method which led to the best tracking performance; 4mm error in y axes and 1.5mm error in x axes, and 0.2 seconds settling time.