Optimized Forward Kinematics for the MBA Exoskeleton and Partitioned Kinematicsfor the Merlin Robot

摘要

This paper describes a systems approach to improving the performance of atelerobotic testbed. The testbed is the Force-Reflecting Interfaces to Telemanipulators Testing Systems (FITTS), at the Harry G. Armstrong Aerospace Medical Research Laboratory. First, the testbed hardware is described, along with an overview of the system's communications paths. Next, the previously-determined forward kinematics for the MBA exoskeleton are outlined. Then the optimization of these kinematic equations is given. The paper also details efficient forward and inverse kinematic solutions for the Merlin industrial robots, using the method of wrist partitioning. The utility of these solutions in toto is that the interfacing of the two systems, given sufficient communications bandwidth between the MBA exoskeleton and the control computer, can now achieve the 4 ms compute time attainable by the Merlin hardware. This optimization puts the FITTS hardware at a milestone stage of completion, as the system is now capable of operating at its peak as a unilateral telerobotic testbed. Finally, future steps to extend FITTS for force reflection research are specified. Teleoperation, Robotics, Remote Control, Human Factors, Force Reflection.