Usability of command strategies for the Phantom Omni/Schunk 5DOF teleoperation setup.

摘要

Teleoperation is the control, operation, and manipulation of a robot or other device over distance. The way in which the master controller dictates how the slave moves in its workspace is called a command strategy. Here, two command strategies are implemented for a teleoperation setup consisting of a Phantom Omni as the master controller, and a 5-DOF serial manipulator as the remote slave. The forward and inverse kinematics, the Jacobian and inverse Jacobian, for the master controller are shown. The forward and inverse kinematics, and the Jacobian are developed for the serial manipulator which serves as the slave. An overview of the control program with its various components is given. The position-position command strategy and position-speed command strategy and how they are implement for the teleoperation setup is detailed. The smoothing of input values and its importance is discussed and shown in detail. The need for self-collision avoidance and ensuring the remote arm does not strike the table top is discussed, along with the algorithms that govern each type of collision avoidance. The experiment setup and results are present next, and the result are discussed. Finally, this work concludes with a discussion of future work and considerations.