Teleoperation by using non-isomorphic mechanisms in the master-slave configuration for speed control
نویسندگان
چکیده
This paper presents modeling, simulation and control of a novel teleoperated mechanism, where two nonisomorphic manipulators are used in one integrated system, with the purpose of usage in Oil and Gas industry in the future. Overall integration of the teleoperated system has been done in the master-slave configuration, where a stuart type 6-DOF parallel manipulator is used as a master robot and a 6-DOF serial manipulator is used as a slave robot. Since, the parallel manipulator has a close loop structure and serial manipulator is an open loop structure their work spaces are of completely different nature in terms of overall shape and size. A novel task-space mapping mechanism has been proposed in this work to integrate these two completely non-identical manipulators. Damped-least square method is used for overcoming the singularity of proposed task-space mapping matrix. To capture the dynamic response of the teleoperator device, detailed dynamic modeling of the parallel and serial manipulator has been presented. Multilevel control architecture with local actuator-space and joint-space controllers, for the parallel and serial manipulators respectively, has also been presented in this work.
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