A novel master-slave tele-operation system is proposed in this paper. Different from the general tele-operation system, besides the CCD camera feedback is included in the system; the real-time haptic feedback is also used to control the robot arm in the distance. The system mainly consists of two parts, the master system and the slave system. The master system includes a haptic device (PHANTOM Omni), and the slave system includes a 6-DOF robot arm equipped with a CCD camera and a 3-DOF force sensor. The equivalent force acts on the robot arm will be exerted to the stylus of the haptic device, so the operator can adjust the position and direction of the robot arm in the distance according to the haptic feedback to the manipulator's hand. Two preliminary experiments have been performed to appraise the performance of the system. The experimental results indicate that the system has good operability and good performance on position tracking, and it is expected to be applied in the tele-surgical operation in the future.
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Song et al. (2006) studied this question.
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