Real time implementation of motion transfer mechanism for master slave robotic configuration

This paper presented the design and development of motion transfer technique from master handle to slave side on one degree of freedom (DoF) master slave robotic configuration. Single DoF master handle has been designed and fabricated using 3D printer. The position feedback mechanism algorithms has been written in LabVIEW to transfer the motion from master handle to slave motor. The position of master handle has been measured in real time through an encoder embedded in the master side motor and it has been transferred to the slave side in order to mimic position of master handle. The developed system is capable of measuring the position of the master handle with resolution of 0.0879 degree and the same has been achieve by transferring the motion to slave side. The accuracy has been calculated on the basis of the position produced by master handle and the position tracked by the slave side and the designed system is able to track the motion with the steady state error ranges between - 0,06 to 0.06 degree. The developed system is useful in any master-slave robotic configuration.