An exoskeleton-based master device for dual-arm robot teleoperation

摘要

Teleoperation is a more realistic approach when controlling a robot in some complex tasks. Traditional master devices have many limits in controlling large scale robot manipulators, especially for a dual-arm robot. In this paper, we present a wearable exoskeleton-based master device for manipulating a dual arm robot. Efforts have been made to optimize the human-machine compatibility of the master device, so that people can manipulate a dual-arm robot in a more natural and intuitive way. A joint space mapping control framework is presented. The performance of the proposed master device and control scheme is validated by experiments conducted in ROS RVIZ environment.