关键词: 运动映射方法, 关节融合策略, 运动学逆解, 7自由度机器人, 肘部自运动

Abstract: In order to completely map the motion information of the master arm to the slave arm in the heterogeneous teleoperation system, a new kinematics mapping method for seven degrees of freedom (DOF) robot was proposed based on the motion characteristics of the human arm. This method establishes master-slave mapping matrix based on the pose of the robot’s end effector. A joint fusion strategy is proposed to perform joint fusion on a robot that cannot be merged into a shoulder and elbow wrist point due to offset, thereby forming an equivalent shoulder, elbow, wrist point, and determine the parameters of the mapping matrix. A reference coordinate system is established to correct the base drift error generated during teleoperation. A new inverse kinematics method is proposed for a 7-DOF robot with elbow or wrist not meeting. The method uses geometric relations to solve the position of the equivalent shoulder and elbow wrist points, and solves the joint angles according to the relationship between each equivalent point and each joint point. The simulation and experimental results show that the proposed mapping method can make the slave arm complete the motion in the proportional model according to the information provided by the main arm, and at the same time, the arm rotation angle is the same as that of the main arm during the motion, and the obstacle avoidance task is completed.

Key words: kinematic mapping method, joint fusion strategy, inverse kinematics, 7-DOF humanoid manipulator, elbow self-motion