Unilateral Master-slave Robot Teleoperation by Means of a User Wearable Interface Based on Inertial Sensors
نویسندگان
چکیده
In master slave teleoperation schemes operated by humans, the interface with which the user interacts plays a key role. In this work an interface based on inertial sensors with applications for unilateral master slave robotic teleoperation is developed. The interface is composed of two portable inertial sensor units which are placed on the upper and lower arm to obtain acceleration and turning rates. The data is internally processed by a DSP in the sensors which yield real time orientation measurements of the bodies they are attached. Then the 3D wrist human Cartesian trajectory is determined by using kinematic models of the human arm, this trajectory becomes the desired trajectory to the slave robot. Finally by means of a control technique the slave robot is capable to track wrist human movements. For validation purposes a master slave teleoperation system is implemented with a three degree of freedom (dof) delta configuration parallel robot as slave system. c © 2010 IFAC
منابع مشابه
Wearable interface based on inertial sensors for master-slave robot teleoperation
An interface based on inertial sensors with applications for master slave robotic teleoperation is developed. The interface is composed of two portable inertial sensor units which are placed on the upper and lower arm in order to obtain acceleration and turning rates. The data is internally processed by a DSP in the sensors and yields orientation measurements of the bodies they are attached. Th...
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