A Bilateral Dual-Arm Teleoperation Robot System with a Unified Control Architecture

摘要

The teleoperation system can transmit human intention to the remote robot, so that the system combines excellent robot operation performance and human intelligence. In this article, we have established a bilateral teleoperation system with force feedback from the arm and gripper. That is, the slave robot system can provide force feedback on both the wrist and the fingers, while the master robot system can render the slave feedback force and human interaction force, and control the slave robot accordingly. In addition, this paper also proposes the framework of the robot’s four-channel bilateral teleoperation control system, which is attributed to two situations: impedance control or admittance control. Finally, single-arm/single-arm, dual-arm/dual-arm bilateral teleoperation experiments prove the effectiveness of the bilateral teleoperation system and the four-channel controller architecture proposed in this paper.