Design and synchronization control of heterogeneous robotic teleoperation system

摘要

Compared to homogeneous robotic teleoperation system, the design and control of heterogeneous robotic teleoperation system are facing greater challenges, due to the differences in the mechanical structures, DOFs (Degree of Freedoms) and task spaces between the master and slave robots. In this paper, first, a heterogeneous teleoperation system is designed where a Phantom Omni haptic device is utilized as the master robot and a SCARA (Selective Compliance Assembly Robot Arm) industrial robot is employed as the slave robot. The communication between the two homogeneous robots is established by using Modbus protocol and the wireless communication technology. Next, a remote synchronization control approach for the designed heterogeneous teleoperation system is proposed based on task space conversion and mapping. By matching the task space, the master and slave robots are in position synchronization such that the local human operator can accurately operate the remote slave robot. Finally, the effectiveness of the proposed approach is verified by experiments.