An exoskeleton-based master device for dual-arm robot teleoperation

被引：3
|
作者：
Zhao, Liang [1 ,2 ]
Yang, Tie [1 ]
Yu, Peng [1 ]
Yang, Yang [1 ]
机构：
[1] Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang, Peoples R China
[2] Univ Chinese Acad Sci, Inst Robot & Intelligent Mfg, Beijing, Peoples R China
来源：
2020 CHINESE AUTOMATION CONGRESS (CAC 2020) | 2020年
关键词：
teleoperation; master device; exoskeleton; spherical scissor mechanism; dual-arm robot;
D O I：
10.1109/CAC51589.2020.9327305
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Teleoperation is a more realistic approach when controlling a robot in some complex tasks. Traditional master devices have many limits in controlling large scale robot manipulators, especially for a dual-arm robot. In this paper, we present a wearable exoskeleton-based master device for manipulating a dual arm robot. Efforts have been made to optimize the human-machine compatibility of the master device, so that people can manipulate a dual-arm robot in a more natural and intuitive way. A joint space mapping control framework is presented. The performance of the proposed master device and control scheme is validated by experiments conducted in ROS RVIZ environment
引用
收藏
页码：5316 / 5319
页数：4
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