外骨骼式遥操作主手设计及主从异构映射算法研究

为了更好地促进机器人适应复杂的遥操作任务，开发了能够精确获取人体上肢运动信息的外骨骼式遥操作主手，并通过异构映射算法，实现对6自由度协作机械臂的遥操作．首先，基于人体仿生结构，设计了可穿戴式8自由度外骨骼主手（臂部7自由度和手部1自由度）；其次，通过改进的D-H（Denavit-Hartenberg）方法建立遥操作系统的运动学模型，基于Matlab的机器人工具箱进行了工作空间仿真，并设计主从异构映射算法；最后，实验验证外骨骼主手在遥操作系统中的可操作性，以及工作空间异构映射算法的可行性．实验表明，外骨骼主手能够控制从端机械手臂，且保证末端位置和姿态一致，可在大范围工作空间内复现人体上肢精细运动，主从跟随误差达2 mm，工作空间类似于直径1.08 m的半球形．因此，可穿戴式的外骨骼主手使操作者能更加直观地参与到遥操作系统当中，辅助操作者更加高效地完成精细复杂任务．

Design of Exoskeletal Teleoperation Master Device and Research on Master-slave Isomerism Mapping Algorithm

In order to make the robot adapt to the complex teleoperation task better, the exoskeletal master device in teleoperation which can accurately obtain the movement information of human upper limb is developed. With the isomerism mapping algorithm, it can realize the teleoperation of the 6-DOF (degree of freedom) cooperative robotic manipulators. Firstly, the wearable 8-DOF exoskeletal master device (7-DOF arm, 1-DOF hand) is designed based on the bionic structure of human body. Secondly, the kinematic model of teleoperation system is established by a modified D-H (Denavit-Hartenberg) method, the workspace simulation is carried out based on the robotics toolbox in Matlab, and a master-slave isomerism mapping algorithm is designed. Finally, the operability of the exoskeletal master device in the teleoperation system and the feasibility of the isomerism mapping algorithm in the workspace are verified by experiments. The experiments show that the exoskeletal master device can control the slave robot, and ensure the consistency of the position and posture between the master and slave ends. It can reproduce the fine motion of the human upper limb in a wide range of workspace. The master-slave following error is 2 mm, and the workspace is similar to the hemispherical shape with a diameter of 1.08 m. The wearable exoskeletal master device enables the operator to participate in the teleoperation system more intuitively, and assists the operator to complete the delicate and complex tasks more efficiently.