Design And Development Of Robotic Arm Teleoperation Platform Based On Limb Motion Information

Robotic arm teleoperation platform,which is a representative case of man-machine cooperation,can make full advantage of both man and robot in the face of tasks with harsh working environments that are unsuitable for close-distance operation.In the recent years,much research attention has been paid to the development of robotic arm teleoperation system,albeit the indirect effects of teleoperation have still remained a problem in most cases.In response to this problem,this study aims to design and develop a robotic arm teleoperation platform,which can fulfill the following three main functions.Firstly,this study devises a data collection module for limb motion,which combines the s EMG signal acquisition system and the IMU sensors.This enables those two kinds of signals to be simultaneously input into the teleoperation platform.Secondly,a robotic actuator is developed for the platform in this study.This actuator,constructed by a SJTU-BBL sixdegree-of-freedom arm manipulator and SJT-6 humanoid hand manipulator,can grasp objects while moving.Thirdly,with the help of ROS(Robot Operating System),this study develops a teleoperation platform,where the decoding of s EMG signal and analysis of IMU data is realized.This platform can also be used with the existing graphical interface.This study also tries to verify the using effect of the teleoperation platform.First,it is tested whether the s EMG signals obtained by the four collection modules can rightly reflect the different limb motions when the operator conducts four kinds of movements,including making a fist,turning left and right,and resting.It proves that,in most cases,the modules can convey the right information of the limb motion to the platform.This may certify the effect of the platform in controlling the start and stop of the robotic arm,and the grasping and holding movement of the robotic hand.Then,a position tracking experiment is conducted on the SJTU-BBL arm manipulator,which verify the good position tracking effect of the platform.Last but not least,a comprehensive test is carried out on the platform,the result of which shows a high success rate and good stability.