For modular master-slave robots, 5 basic kinematic mapping algorithms are proposed, including PO3, O3, P3, pO3 and Po3, and an implementation method for teleoperation task through mapping sequence consisting of those 5 basic mappings is presented. The presented method is commonly suitable for both isomorphic and isomerous master-slave teleoperation systems. Besides, a whole closed control loop consisting of the operator, master robot, slave robot and task object is analyzed, especially the positive and negative effects of the operator, i.e. high intelligent decision and error sources. Finally, the presented implementation method for teleoperation task is modeled and simulated through 3 classic tasks of climbing bio-robot, including grasping a ball, a cylinder and a cube. Hence, the feasibility of the method under positive and negative effects is verified. The implementation performance demonstrates the repeated process for completing teleoperation tasks, and show that the proposed method can perform a single task and is suitable for various kinds of tasks.
[1] Ishii T, Katsura S. Bilateral control with local force feedback for delay-free teleoperation[C]//12th IEEE International Workshop on Advanced Motion Control. Piscataway, USA:IEEE, 2012.[2] Kim H, Ryu J-H. A study on the effect of haptic to video time-delay on teleoperation and a comment for improving the performance[C]//11th International Conference on Control, Automation and Systems. Piscataway, USA:IEEE, 2011:1329-1332.[3] Goertz R C, Blomgren R A, Grimson J H, et al. The ANL model 3 master-slave electric manipulator- Its design and use in a cave[J]. Transactions of the American Nuclear Society, 1961, 4(2):121-142.[4] Flatau C R. SM 229- A new compact servo master-slave manipulator[C]//25th Conference on Remote Systems Technology. La Grange Park, USA:American Nuclear Society, 1977:169-173.[5] Strassberg Y, Goldenberg A A, Mills J K. A new control scheme for bilateral teleoperating systems:Lyapunov stability analysis[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA:IEEE, 1992:837-842.[6] Wang C Y, Fan W H, Cai X P. Teleoperation of robot based on radio communication network[J]. Journal of Engineering Design, 2004, 11(4):179-186.[7] Lawrence D A. Stability and transparency in bilateral teleoperation[J]. IEEE Transactions on Robotics and Automation, 1993, 9(5):624-637. [8] Hayward V, Astley O R, Cruz-Hernandez M, et al. Haptic interfaces and devices[J]. Sensor Review, 2004, 24(1):16-29. [9] Guan Y S, Jiang L, Zhang X M, et al. Development of novel robots with modular methodology[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway,USA:IEEE, 2009:2385-2390.[10] Zheng Z F, Guan Y S, Su M J, et al. Development of isomorphic master-slave robots with modular method[C]//IEEE International Conference on Information and Automation. Piscataway, USA:IEEE, 2013:1290-1295.[11] Su M J, Guan Y S, Hu J, et al. Development and analysis of a bilateral control system for modular master-slave robots with P-P tracking capability[C]//IEEE International Conference on Mechatronics and Automation. Piscataway, USA:IEEE, 2013:336-341.[12] Guan Y S, Jiang L, Zhu H F, et al. Climbot:A modular bio-inspired biped climbing robot[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, USA:IEEE, 2011:1473-1478.[13] Zhu H F, Guan Y S, Wu W Q, et al. A fast search method for computing the constant-orientation workspace based on the binary approximating principle[J]. Robot, 2013, 35(6):709-715. [14] Cao L, Guo R, Wu P H, et al. Screwing manipulation on power transmission lines with a robotic system[C]//IEEE International Conference on Mechatronics and Automation. Piscataway,USA:IEEE, 2014:1294-1299.
