Design and Development of Teleoperation Interactive System for 7-DOF Space Redundant Manipulator

By analyzing the configuration characteristics of 7-DOF space redundant manipulator and the advantages and disadvantages of different human-computer interaction modes, such as hand controller, visual camera, wearable data arm and voice interaction, a teleoperation system with multiple human-computer interaction modes is designed and developed. By studying the motion mapping algorithm, the teleoperation of space redundant manipulator is realized. Firstly, aiming at the requirements, such as a rapid movement, obstacle avoidance, fine operation, tool operation etc. a teleoperation human-computer interaction system is designed and developed to adapt to a variou working conditions; Secondly, in order to control the arm shape and end pose of the manipulator at the same time, the motion mapping methods of joint angle + end pose and arm shape angle + end pose for wearable data arm are proposed. Finally, a typical target acquisition experiment is carried out. The experiment verifies the engineering practicability of the teleoperation system and the feasibility of the motion mapping method. It provides a friendly and natural human-computer interaction interface for operators.