Workspace Mapping And Control Of Asymmetric Teleoperation Robot

With the development of modern industrial technology,many exploration and op-erating environment,people often can not directly reach the scene,such as dealing with nuclear waste and toxic chemical waste,aerospace and underwater missions,telemedi-cine and so on.The task of using autonomous robots to intelligently handle these tasks is difficult at present.Therefore,the master-slave teleoperation robot working in man-machine interaction becomes a very effective solution.The study of master-slave tele-operation robot has important practical significance.In this paper,a corresponding ex-perimental platform is designed for the teleoperation system of master-slave heteroge-neous teleoperation,and the corresponding working space mapping method and motion control algorithm are designed.First of all,based on the research of the literature,the Geomagic Touch device is chosen as the master device of the system,and the rethink Baxter robot is used as the slave device of the system for the specific requirements of the teleoperation system.Based on the selection of the master and slave devices,the workstations of the teleoper-ation system are built by using Ethernet to realize the hardware connection between the various devices of the teleoperation system.Secondly,based on the robot operating system(ROS)and Simulink module in MATLAB,the software framework of the teleoperation system is built.The driver of the slave device is written in python programming languages with the API of the Baxter robot.The driver of the master device is written in C ++ programming language with the API of the Touch device.The communication between Simulink module and devices are realized by the Simulink toolbox-robot operation system toolbox.Thirdly,the kinematic model of the master and slave devices is established.Based on the kinematic model of the devices,joint space mapping method and operation space mapping method are designed respectively.The advantages and disadvantages of the two methods are analyzed.On this basis,A Hybrid Workspace Mapping Method is es-tablished.At last,the dynamic model of the slave device is established for the slave device,and the corresponding algorithm of inverse dynamics is designed by Newton-Euler iterative method.On this basis,a PID motion control algorithm based on model feed-forward is designed and verified by experiments,and a good control effect is obtained from the tracking of the master motion.