Research on master-slave teleoperation control algorithm based on exoskeleton master hand

摘要

In order to obtain a more anthropomorphic experience in remote control, we use a wearable exoskeleton type master hand, which can obtain real-time human upper limb motion information. And through the master-slave constraint algorithm, it completes the synchronous control of the slave robot, and then completes a series of tasks that people cannot directly participate in. The original control scheme is further optimized, so that the tracking accuracy of the slave end effector is significantly improved. First, the Denavit-Hartenberg model of the master and slave devices is established through Robotic Toolbox 9.10 robot toolbox, and the workspace of the master and slave devices is analyzed respectively using Monte Carlo method. Secondly, the control scheme is designed to make the master exoskeleton complete the high-precision real-time control of the slave robot. Finally, the simulation results show that the master exoskeleton can complete the synchronization control of the slave robot, and the terminal accuracy is further improved on the basis of the original algorithm.