6-DOF Bilateral Teleoperation Hybrid Control System for Power Distribution Live-Line Operation Robot

In the master-slave heterogeneous teleoperation, workspace of slave manipulator is usually much larger than that master manipulator. This paper proposes a 6-DOF bilateral hybrid teleoperation control strategy to map manipulators without changing operation accuracy. The includes admittance and force based on feedback sensor at end two strategies switched autonomously through positioning Sigma.7 handle in workspace. Compared with classic control, it overcomes limitation pre-matching slave. When tool contacts rigid environment, robot can make adaptive compensation controller even if operator has not responded. We conduct extensive experiments evaluate changes displacement velocity before after switching process under different parameters. Finally, applied live-line distribution networks. experiment proved more consistent human habits improve assembly success rate efficiency.