Design and Experiments of Low Cost Teleoperation System

Adha Imam Cahyadi, Ng Khin Hooi, Anugrah Persada, Rubiyah Yusof, Yoshio Yamamoto


In this work, a teleoperation system consists of two planar SCARA manipulators is developed. The manipulators are constructed using basic low cost aluminum bars as well as cheap electronic circuitry and software. Modeling, system identification, individual control and teleoperation control are proposed. Finally, experiments are also performed to verify the effectiveness of the design.

Index Terms—Teleoperation systems, PID control, System identification, position control.



Low cost teleoperation system; PID; System identification; SCARA; Position Control

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IAES International Journal of Robotics and Automation (IJRA)
ISSN 2089-4856, e-ISSN 2722-2586
This journal is published by the Institute of Advanced Engineering and Science (IAES) in collaboration with Intelektual Pustaka Media Utama (IPMU).

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