A heterogeneous master-slave teleoperation method for 7-DOF manipulator

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	A heterogeneous master-slave teleoperation method for 7-DOF manipulator
	Su, Rong 1,2,3; Xu K(许可)3; Zhao L(赵亮)1,2; Yu P(于鹏)1,2
	2021
会议日期	October 22-24, 2021
会议地点	Beijing, China
关键词	exoskeleton inverse kinematics master-slave heterogeneity redundant manipulator teleoperation
页码	1740-1744
英文摘要	Teleoperation is widely used because of its ability to extend human behavior and perception to slave robots. In this paper, we use a wearable exoskeleton as the master device for human-robot interaction, which can obtain the movement posture of the operator naturally and intuitively. The slave device uses a 7-DOF redundant manipulator similar to the human arm structure, which improves flexibility without being over redundant. In addition, an inverse kinematics method is proposed to meet the requirements of anthropomorphic remote operation of master-slave heterogeneity. Simulation experiments are carried out in combination with MATLAB and ROS RVIZ environment to prove the performance of the heterogeneous teleoperation control method.
产权排序	1
会议录	Proceeding - 2021 China Automation Congress, CAC 2021
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-6654-2647-3
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/30793]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Su, Rong
作者单位	1.University of Chinese Academy of Sciences, Beijing, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China 3.School of Information and Control Engineering, Shenyang Jianzhu University, Shenyang, China
推荐引用方式 GB/T 7714	Su, Rong,Xu K,Zhao L,et al. A heterogeneous master-slave teleoperation method for 7-DOF manipulator[C]. 见:. Beijing, China. October 22-24, 2021.