Master-Slave Control of a Teleoperated Anthropomorphic Robotic Arm with Gripping Force Sensing

摘要

This paper details methods of solving problems that are encountered when human beings teleoperate robots. Special emphasis has been given to the ease of operation and some form of force sensation. Through the use of a rigid control rig, fitted to the user's arm, it is possible to easily control an anthropomorphic robot arm using a master-slave control methodology. The force being exerted by the arm is measured and fed back to the user who is operating the master unit.