Research And Control Of A Teleoperation Humanoid Mechanical Arm System

Teleoperation robot is a kind robotic system in which a human operator can control a robot to complete the task in faraway situations.This robotic system can be used in such diverse applications as serves for the aged and the disabled,disaster relief,reconnaissance,exploder removing,geological exploration and space exploration.Since the work environment and work task of robot are often complicated,and current autonomous robot cannot work independently due to limitations caused by existing technologies of mechanism,control,artificial intelligence and sensors,the control-inthe-loop teleoperation strategy,which combines the decision-making ability of human with the work ability of robot,enables the robot to work in a remote or dangerous environment.This thesis develops a tele-robotic system which consists a motion capturing suit at the master side and a slave six-DoF mechanic robot arm.A human operator can control the robot to imitate the operator's actions when he wears the suit.The main contributions of the thesis are as follows:1)Biomimetic design and modeling of the slave robot armThe physiological characteristics and the motion scope human arm are studied and the mechanism of the humanoid robot arm is then designed.The D-H method is used to build the kinematic model of the robotic arm,and analyses are conducted on the arm's kinematics characteristics.2)Study of human arm to robot arm mapping methodThe real-time attitude data of inertial sensor data acquiring units mounted on the human body are collected and fused,and these fused data are then converted into the attitude data in the quaternion forms.These attitude quaternions of every two adjacent attitude data are mapped into different joint control angles of the slave robot corresponding with human body.Experiments verified the accuracy of the mapping method.3)Control system design and experimental studiesThe control system of the tele-robotic system are designed and realized,which consists the master human body attitude acquisition system and the slave semihumanoid robot system.Experiments are performed on the robot arm taking and delivering bottles,results show that the designed telerobotic arm can realize the motion following control of the slave robot using the human motion data.