Research on Intuitive Tele-operation Motion Mapping Algorithm for Omnidirectional Mobile Heterogeneous Slave Arm System

Abstract

In order to meet the universality of the human-robot interface on the master side and the specialty of the interaction between the slave robot and environment, the teleoperation robotic system usually has a heterogeneous master-slave structure. The characteristics of master-slave heterogeneity will bring a difficulty to the tele-operation robotic system, and this difficulty is prominently manifested in the differences of master-slave movement trajectories and limited working space brought by the restricted slave robot movement. In order to realize motion mapping control of the heterogeneous tele-operation robotic system in accordance with the operator's intuition, this paper proposes a method to achieve the consistency of master-slave motion trajectory via combining the movement of the slave robotic chassis. When the working spaces of the master and slave are coincident, we adopt the methods of position control for the slave wrist and orientation mapping for the end effector. When the movement of the slave robot is limited, we use the movement of the slave robot platform to realize the dead zone avoidance. Through the redundant degrees of freedom caused by the back-and-forth, left-right movement of the slave robot moving platform, the movement trajectory of the master-slave manipulator is consistent and to further realize the tele-operation mapping control according to the intuition of the operator. In this paper, we verify the effectiveness of the proposed algorithm via a robotic system that includes an excavator-type slave arm and Mecanum wheel omnidirectional mobile platform.