Architecture and Operation Algorithms of a General-Purpose Integrated Bilateral Manipulator System

摘要

The article introduces an architecture and operation algorithms for a bilateral manipulator system (MS) with force feedback. Bilateral control systems allow a person to remotely grasp various objects and manipulate them, while also providing telepresence. A manipulator system model has been developed as a result of the work described in the article. It comprises a pair of robot arms and a pair of grippers. Force sensors are one of the main components of the system. Some of the sensors are located in the manipulator wrists, while the others - in the gripper fingers. This allows the system to transmit information on the position of the MS, as well as on the forces and torques of interaction with external objects in the bilateral control (BC) mode. The experiments carried out have indicated that it is possible to build a system on the basis of commercial industrial robots and use this system to perform various tasks related to object grasping and manipulation.