Kinematic Mapping Algorithms for Modular Master-Slave Robots

Abstract

For modular master-slave robots, 5 basic kinematic mapping algorithms are proposed, including PO3, O3,P3, p O3 and Po3, and an implementation method for teleoperation task through mapping sequence consisting of those 5basic mappings is presented. The presented method is commonly suitable for both isomorphic and isomerous master-slave teleoperation systems. Besides, a whole closed control loop consisting of the operator, master robot, slave robot and task object is analyzed, especially the positive and negative effects of the operator, i.e. high intelligent decision and error sources.Finally, the presented implementation method for teleoperation task is modeled and simulated through 3 classic tasks of climbing bio-robot, including grasping a ball, a cylinder and a cube. Hence, the feasibility of the method under positive and negative effects is verified. The implementation performance demonstrates the repeated process for completing teleoperation tasks, and show that the proposed method can perform a single task and is suitable for various kinds of tasks.