Software Architecture for Haptic Integration 6 DOF Articulated Manipulator
Design and development of the slave manipulator i.e. articulated robot which is to be fitted in dangerous environment, unsuitable for humans, is crucial when it comes to remote actuation and hazardous situation response management. Control scheme for slave manipulator, installed in hazardous environment requires, as inputs, the desired position, velocity, and acceleration of each joint of the manipulator. The development of a general software for haptic integration of 6 degrees of freedom articulated robot through C language is discussed in the paper. The paper mainly focuses on development of the basic software architecture along with its algorithm. The software along with its graphical user interface has been developed and tested.