Master-Slave Arm Heterogeneous Mapping With Link Pose Constraint in Teleoperation System

In order to solve the problem in master-slave heterogeneous teleoperation systems, which is that inverse solution of robot cannot be achieved when mapped wrist joint exceeds reachable space joint, a mapping method based on link pose constraint proposed. The means position and orientation hand are same or similar exoskeleton link. proposed method, used an exoskeleton-based system realize consistent between inside space, effective end effector (EE) outside space. A simulation was performed by using method. results show can effectively EE. experimental setup constructed developed industrial robot, verification experiments were performed. indicate error 0.48 mm. demonstrate continuous motion control system, satisfies application requirements human-robot integration, skill enhancement, learning.