Master-Slave Teleoperation Method of Redundant Manipulator

Abstract:

This paper introduces a master-slave control method of teleoperating a redundant manipulator with double handles. The master handles send motion commands in the form of increments. The mapping module transforms the commands into homogeneous matrices. And the slave manipulator links discrete motion commands in the mode of PVAT automatically, by inverse kinematics and fifth-order polynomial interpolation. Simulations and experiments are taken to prove the effectiveness of the control method in the paper.

• Periodical: Advanced Materials Research (Volumes 694-697)
• Pages: 1690-1695
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.694-697.1690
• Online since: May 2013
• Authors: Yang Chen, Peng Chen
• Keywords: Double Handles, Interpolation, Master-Slave Control, Redundant Manipulator, Teleoperation

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