A Method to Solve Inverse Kinematics of Redundant Slave Arm in The Master-Slave System with Different Degrees of Freedom

摘要

A master-slave manipulator with different degrees of freedom has some advantages, such as operational performance. However, it is difficult to determine the angles of a redundant slave manipulator in such a system. In this paper, we determine them by measuring the operator's posture with an acceleration sensor to follow the operator's motion as exactly as possible.