Mastering Control

Haptic robots, providing tactile feedback, enhance control and precision in applications like space exploration, surgeries, virtual reality, and prosthetics. They allow for a precise, responsive interaction with the environment and can be equipped with response actuators for an enhanced physical experience. In surgeries, they provide a realistic sense of touch, reducing tissue damage risk. In virtual reality, they offer a more immersive experience. This chapter discusses the design and fabrication of a haptic-based two-link robotic arm with a micro-gripper, controlled via a custom-designed joystick. The joystick uses 100-kilohm potentiometers on each joint, converting rotation angles into resistance values for the microcontroller, which are then used in real-time servo control for desired motion. The arm’s sensitivity and actuation speed can be adjusted, and it can be preprogrammed for repeated precise motions. This affordable, lightweight, and highly dexterous design offers an intuitive, user-friendly control method, making it ideal for various applications.