A Mapping Method for Telemanipulation of the Non-Anthropomorphic Robotic Hands with Initial Experimental Validation

摘要

A mapping algorithm is essential to teleoperate a robot hand. Joint-to-joint mapping, pose mapping and point-to-point mapping are three commonly used methods for telemanipulation. However, these methods might not produce satisfactory performance if the robot hand is non-anthropomorphic. This paper introduces a method for mapping based on the relative positions between fingertips. An algorithm particularly for a three-fingered non-anthropomorphic robot hand is presented. The principle of the method is to find suitable parameters in the hand frame, to transform them to the robot frame, and then to compute the robot fingertip positions according to the transformed parameters. The mapping results and the comparisons with the traditional methods validate the advantages of the proposed method.