Master-slave Robot Mapping Method Analysis And Experimental Research

In recent years,with the progress of human society and robotics,master-slave robot system is widely used in special circumstances like mine,nuclear,assembly,deep sea,medical,space and so on.In this paper,on the basis of master-slave robot system research at domestic and abroad,a variety of master-slave robot position and posture mapping methods are analyzed and experimentally studied.The main contents are as follows:Robots used in this paper are mainly Phantom Omni robot,intersection robot,3-DOF series robot and 6-DOF parallel robot.In this paper,the structure of each robot is briefly analyzed and the hardware of the robot is established by selecting the appropriate electrical components.VC ++ 6.0 software program is designed to achieve the independence movement of each robot,which provides an experimental platform for master-slave mapping system.According to the requirements of subsequent experiments,Phantom Omni Robot,3-DOF series robot's forward and inverse kinematics model and 6-DOF parallel robot's inverse kinematics model are established by the D-H method.Sim Mechanics simulation model of each robot is established by using Matlab software,the correctness of kinematics is verified,and position workspace and posture workspace of each robot are analyzed.By analyzing several master-slave robot control system mapping methods: Incremental mapping,absolute mapping,joint mapping,geodetic coordinates mapping and the proportion of fixed mapping,variable proportions mapping and so on,and a tool coordinates mapping method of master-robot controlling the movements of the window is proposed.Based on each master-slave mapping method and needs of the experiment,the four independent robots compose of different master-slave control systems,and the friendly software interface and the corresponding master-slave control procedures are designed.On this basis,Corresponding experimental study is done for each mapping method.Finally,controlling of the position and posture of slave robot with master robot is implemented.