Teleoperation of dual-arm manipulator based on relative motion of the end-effectors

摘要

Usually, two master devices are required for a dual-arm teleoperation. As a result, both hands of an operator are occupied in manipulating the two master devices. However, during teleoperation, the operator is desired to do various other interactive operations, e.g. camera control, changing control modes, etc. In this paper, a new efficient method which controls the dual-arm system with only one master device is proposed. It avails relative motion between the two end-effectors. Effective operator support system is also implemented using this approach.