Inverse Kinematics and Master-Slave Control for a 7-DoF Tendon-Driven Humanoid Robot Arm

Abstract

In recent years, the master-slave control system has been widely used in complex precision operations and high-risk locations such as nuclear environment, marine, medical, aerospace, etc. The control system designed in this research is based on the risk control principle, which isolates the hazard source from the operator so that the operator can operate accurately through remote control. The purpose is to ensure the accuracy of the operation and prevent the operator from being injured by the working environment. In this paper, the master robot system based on the Robot Operating System (ROS) is established under the Linux system. A humanoid robot arm driven by a 7 degree of freedom (7-DoF) tendon driven robot arm is used as a slave robot system. On this platform, an interactive interface with an electromagnetic position tracking sensor as an input device has been developed. Through the kinematics model of the robot arm, the mapping relationship between the human arm and the robot arm is established, and inverse kinematics is used to control the movement of the subordinate robot arm through the posture information of the human arm. The experimental results show that the end position of the robot arm controlled by the master-slave is roughly the same as the end position of the human arm, which proves the effectiveness of the control strategy.