Design of Exoskeletal Teleoperation Master Device and Research on Master-slave Isomerism Mapping Algorithm
LI Jialin1,2,3, YANG Yang1,2, YANG Tie1,2, ZHAO Liang1,2, YU Peng1,2
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China; 3. College of Information Science and Engineering, Northeastern University, Shenyang 110819, China
Abstract：In order to make the robot adapt to the complex teleoperation task better, the exoskeletal master device in teleoperation which can accurately obtain the movement information of human upper limb is developed. With the isomerism mapping algorithm, it can realize the teleoperation of the 6-DOF (degree of freedom) cooperative robotic manipulators. Firstly, the wearable 8-DOF exoskeletal master device (7-DOF arm, 1-DOF hand) is designed based on the bionic structure of human body. Secondly, the kinematic model of teleoperation system is established by a modified D-H (Denavit-Hartenberg) method, the workspace simulation is carried out based on the robotics toolbox in Matlab, and a master-slave isomerism mapping algorithm is designed. Finally, the operability of the exoskeletal master device in the teleoperation system and the feasibility of the isomerism mapping algorithm in the workspace are verified by experiments. The experiments show that the exoskeletal master device can control the slave robot, and ensure the consistency of the position and posture between the master and slave ends. It can reproduce the fine motion of the human upper limb in a wide range of workspace. The master-slave following error is 2 mm, and the workspace is similar to the hemispherical shape with a diameter of 1.08 m. The wearable exoskeletal master device enables the operator to participate in the teleoperation system more intuitively, and assists the operator to complete the delicate and complex tasks more efficiently.
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