5 DOF Instrumented Master Device for Experimental Understanding of Intuitive Teleoperation

Abstract

Teleoperation it is a modern challenge within the areas of mechatronics, e.g. precision mechanics, control electronics, computational algorithms. Teleoperation arose from the necessity of handling nuclear material, but in recent years has come essential in others activities such as the space or undersea exploration, mobile robotics, medical applications and entertainment. The main goal in this work is to study the “operation at a distance,” with a master-slave system, to define the concept of “Intuitive Teleoperation,” like a novel approach to perform semiautonomous teleoperation, based on incomplete information from the environment, objects and system. In this level of the investigation the experimentation was realized with a 5 DOF anthropomorphic device (master device) that acquired data of the movements from a human operator, which was sent to a 5 DOF anthropomorphic robot (slave device). Both, direct kinematics (over the master device) and inverse kinematics (over the slave device) were used to calculate their space parameters (point coordinates, orientation) and to implement intuitive algorithms. Has been observed that the master device movements are followed and enhanced by the slave subsystem when the intuitive algorithms are activated. Semiautonomous teleoperation was achieved using a 5 DOF instrumented master device. The experiments enhanced the “operation at a distance” by defining an intuitive algorithm.