Bingjie Liu: Design of Haptic Robot Modeling and Simulation Platform

By analyzing the characteristics and applications of robotic at locally and abroad, specifies the importance of force feedback technology in the robotic system and describes the current development process of force feedback technology. The methods, design and implementation of the master/slave prototype surgical system along with force feedback facility are introduced. The basic materials is also mentioned to complete the proposed method thus to accomplish surgical procedure. The prototypes (master-slave) surgical system alone with control strategy is given. The application software is designed to control slave motion according to the master device with accurate position, velocity monitoring and controlling. Thereafter, Position-Position Difference based force feedback technique is implemented, with updated control strategy and significance experimental results. Furthermore, the force sensor (FS) placement with surgical tool to get direct force for haptic feedback on themaster haptic device