Teleoperation Of Internet Based Robot Using A Human Arm Exoskeleton

TeleRobotic system is a typical Man-Machine system, which requires the cooperation of both the human controller and the remote robots. Keyboard and joystick are often used for information coupling between human beings and robots in such systems, but there are shortcomings: these devices can only teach the robot some limited simple actions, or adjust the robot joints sequentially. In some occasions which require complex moving trajectory or compound movemenet of all joints, with these devices, even the most skillful operators can hardly achieve it. The reason is the limited bandwidth of communication between human and robots. So in this paper we attempted the exoskeleton robot in the telerobotic case to prove that the exoskeleton is useful in man-machine coupling.The framework of the system is introduced first. The essential of telerobotic system is integration, inter-connection, open and distribution, which requires the system can be implemented on different hardware and software platforms, network environments, and self-evolving. So a peer to peer system framework is adopted in developing a distributed, module based, reusable teleoperation framework in this paper, instead of traditional B/S or C/S model. Its core principle is the resource dynamic location principle and XML based ontology, on which the event and pipe as the communication layer of the whole framework are constructed. This framework ensures the telerobotic system an dynamic, cooperative, parallel and real time based environment.Mechanical device is the basis of such research. The parallel 3-RPS mechanism is adoped as the main parts of the exoskeleton hardware, which composes the "shoulder" and the "wrist". Kinematical research of the 3-RPS mechanism is conducted, including the invese kinematics, working space analysis, dexterity analysis and its error modeling. These researches have set up the principles for the optimal selection of exoskeleton mechanism parameters.With the rapid development of Internet technology, Internet plays an increasingly important role in teleoperation. Internet based telerobotic systems have to face a difficulty, the time variant time delay in the control loop, which generally causes the systems to be in-stable. To solve this problem, a new hybrid event based control architecture were proposed in this paper. A non-time variable is introduced together with time referenced system, and the non-time reference scalar is used in cooperating the local controller subsystem and the remote robot subsystem. Besides the promised stability, this architecture also claims the adaptivity and extendability.Bilateral control is the basic control structure of the exoskeleton based teleoperation system, in which the coupling information parameter are usually the velocity force pair . Taking force as the response from robot in Internet involved telerobotic system is apt to be instable due to the time delay brought by Internet. In this paper, position feedback is used instead and the model of bilateral control is proposed. The modification ensures the system stability and good performance under time delay. What's more, it excludes the human being, the most unsteady element, from the control system, so it need not building the complicated human model and so that simplifies the design of control system. Some points on the control of the exoskeleton are also discussed in the paper.At the end of this thesis, a synthesis of the complete exoskeleton-based tele-operation system has been done and the implementation of the hardware and software system are provided. A simplified one degree freedom bilateral control experimental system has been established and experiments have been conducted. The result of the experiments prove that the Internet based control method and the bilateral control model are correct and effective.