Model based anthropomorphic robot teleoperation

摘要

This thesis presents research work which is part of the MOBATEL-project (MOdel BAsed TELeoperation of an underwater vehicle over a narrow band communication link). The project is a continuation of research activities undertaken at several departments of the Norwegian Institute of Technology. The main task of the MOBATEL-project is to teleoperate a free-swimming underwater vehicle which is equipped with one or more manipulator arms for a number of purposes. This thesis presents model based anthropomorphic robot teleoperation. It is an investigation of how a human operator can use an anthropomorphic generator (AG) to teleoperate a real robot over a narrow band communication link while viewing a model based computer graphics. The computer graphics is used to animate the real robot motion and simulate the remote work sites. An experimental system of this robot teleoperation was built and tested. An anthropomorphic generator was designed and used in the experimental system as a master control device. The main emphasis of the robot teleoperation was put on the model based computer graphics. The computer graphics animation of real robot motion was based on the robot kinematic model. In this thesis, a general quaternion transformation representation for deriving robot kinematic transformation equations is developed. Furthermore, a theoretical study on the quaternions for robotic application is presented. The general quaternion transformation representation is a powerful, simple, and effective method for presenting robotic kinematic transformation compared with the normally used Denavit-Hartenberg notation. 36 refs., 44 figs., 6 tabs.