Research On HIT/DLR Dexterous Robot Hand Teleoperation

As the end effector, dexterous robot hand has many good characteristics like multied-degrees of freedom, finger coordinated manipulation, etc. These characteristics are the effective way to improve the ability of the traditional robot manipulation. Teleoperation is a simple and effective way to control robot hand which using the human grasp experience to guide the dexterous hand grasping. In teleoperation, the operator is responsible for the task planning and command design, while the robot hand finishes the grasp. This paper analyzes the recent works about the dexterous robot hand teleoperation with telepresence and teleoperation with time delay, and focuses on the HIT/DLR hand teleoperation and related key technologies.To solve the poor precision problems of DataGlove angle outputs, this paper builds human hand kinematic model and fingertip position error model, and gets the precise parameters of human hand model by the parameters identification based on fingertip positions closed loop method. This paper also constructs the HIT/DLR robot hand kinematic model including the palm and analyzes the difference between the two models and the corresponding motion mapping difficulties. The human hand motion is mapped to the dexterous robot hand based on the ameliorated fingertip position mapping method. The mapping algorithm is testified through the graphic simulation. The simulation results show that the mapping method is direct and natural which can satisfy the requirements of robot hand teleoperation.Telepresence is the kernel interaction technology in robot teleoperation system. Contrasting the poor immersion in recent robot teleoperation systems, this paper constructs a multi-channel telepresence dexterous hand teleoperation system with stereoscopic vision feedback, force feedback and acoustical feedback. Low level control of the Rx60 robot arm based on Space Mouse and the HIT/DLR dexterous hand manipulation based on Dataglove are implemented. The principle of stereoscopic vision is analyzed. The active vision platform with two degree of freedoms, global cameras system, hand-eye vision cameras system, time parallel stereoscopic display system and time multiplexed stereoscopic display system are designed and implemented for the vision telepresence. The force feedback telepresence is implemented by CyberGrasp. Dexterous robot hand teleoperation...