Design Of Exoskeleton Teleoperation Master Manipulator And Research Of Master-slave Heterogeneous Control Method

With the continuous development of modern intelligent technology,the application of robots in many fields has become more and more important.At present,simple and repetitive work has been gradually replaced by robots.However,the more complex components assembly,testing,maintenance,experiment and other fine operations are limited by the current robot technology,and still rely on manual work.If you want to work in nuclear radiation,space,deep sea and other dangerous areas It is necessary to combine human’s advanced decision-making and flexible operation ability with robot to realize these complex operations in dangerous,long-distance and unstructured environment.Therefore,it is of great application value and practical significance to develop human’s fine remote operation control technology in the loop.In order to better promote the robot to adapt to the complex precise teleoperation task,this paper develops the exoskeleton teleoperation master hand,which can accurately obtain the movement information of the human upper limb.Through the research of heterogeneous mapping algorithm,its application in the unmanned emergency rescue robot system is realized.Firstly,on the basis of research,based on the bionic structure of human body,the main hand parameters are designed,and the wearable 8-DOF exoskeleton main hand(arm 7-DOF,hand 1-DOF)is built as the main end of teleoperation.The exoskeleton main hand designed in this paper can adapt to the main working space of human upper limb and is easy to wear.Secondly,a heterogeneous teleoperation system is built.The new six axis cooperative manipulator is selected from the end manipulator,and the two finger gripper of robotiq is selected from the end manipulator.The kinematics model of the master-slave manipulator is built with the robotics toolbox of MATLAB software.Thirdly,the workspace of the master-slave manipulator is analyzed,the mapping algorithm of heterogeneous Teleoperation Based on workspace is designed,and the simulation of clik(closed-loop inverse kinematics algorithm)is carried out by using Simulink.Finally,experiments verify the operability of exoskeleton master hand in teleoperation system and the feasibility of heterogeneous mapping algorithm in workspace.The experiment shows that the exoskeleton master hand can control the slave manipulator,and ensure that the position and posture of the end are consistent.It can reproduce the fine motion of the human upper limb in the working space of the operator’s upper limb,and the master-slave follow error is 2 mm.The wearable exoskeleton main hand designed in this paper makes the operator participate in the teleoperation system more intuitively,improves the sense of operation,and assists the operator to complete the delicate and complex teleoperation task more efficiently.