Development And Maneuverability Of Modular Master-slave Robot Teleoperation System

Teleoperation systems which have been researching globally along with birth of robots,are widely applied in occasions that operator need to be separated spatiotemporally from taskcircumstance, including space, undersea, toxic/radiant region and micro-nano field. Withconfiguration flexibility, low cost and extension convenience, modular robotics is hot forincreasing requirements of robots. Based on previously developed modular master and slaverobot system, research on teleoperation control is presented in this paper.Firstly, characteristics of hardware and software system of modular master-slave robotsare analyzed. Afterwards, introduction about control methods and decided functions of masterslave software system is told, according to specific tasks of high tension wire.Secondly, a concept “transparency” that stands for teleoperation performance is cited tobuild up an available position transparency evaluation theory. For a general teleoperationsystem, analysis of sorts of errors aided position transparency evaluation model is established,single subsystem control mode of a5-DOF master-slave manipulator for improving positiontransparency is achieved.Thirdly, task oriented mapping algorithms is given to enhance suitability of general tasks.Previously, we proposed the clarification, representation and comparison of robotsconfiguration, as well as clarification of different tasks which require various degrees offreedom of endeffector. Then a master-slave mathematical mapping model is built upaccording to former clarifications, along with concrete solutions of mapping algorithms ofthree typical sorts of tasks. Once this theory is generally presented, an example of5-DOFmaster slave manipulator system is given to perform task oriented functions.In the end, experiments on modular master-slave system, position transparency and taskoriented mapping algorithm prove correctness and feasibility. Experiment on teleoperationcontrol system presents specific tasks of high-tension wire, the one on position transparencycompares performance of two motion mode (multi-joints whole system motion mode andsingle joint subsystem motion mode) with analysis of joint variable data and curves ofposition transparency, and the one on task oriented mapping method shows differences ofvarious algorithms by Matlab.