Dexterous Teleoperator for Hazardous Environments

摘要

The objective of this research is to develop a system that the operator can useto control the gripper manually. In order to control such a complicated system by hand, a special dexterous glove has been developed, that enables the operator to control six degrees of freedom of the gripper. The glove also provides the operators with position and force feedback. Thus, the operator is provided with a sense of telepresence. The entire man-machine system consists of the glove, the master arm and a control panel, with which at least 17 degrees of freedom of the telemanipulator system can be controlled. This mapping problem is solved, partly, by a Cartesian coordinate system coupling and a direct mapping of several joints.