NONLINEAR SYSTEMS IN ROBOTICS

Design of Teleoperation System for Control over Industrial Manipulators with Upper-Limb Exoskeleton

R. R. Damindarov^a, I. Gaponov^b, A. V. Maloletov<sup>a

a</sup> Innopolis University, ul. Universitetskaya 1, Innopolis, 420500 Russia
^b Department of Computer Science, University College London, United Kingdom Gower St, London, WC1E 6BT UK

Abstract: This paper discusses how to develop and implement a bimanual teleoperation system using an exoskeleton suit and two collaborative robots. In the mathematical model, two methods of mapping have been implemented: Joint space mapping via direct control and Cartesian space mapping using Saturation in the Null Space. Both methods are verified in simulation using the developed mathematical model and on hardware using KUKA IIWA robots. A pick-and-place experiment is designed, and the corresponding end-effector positions of the master and the slave devices are obtained. Force feedback is introduced using two methods to improve accuracy and to show the applicability not only for collaborative robots but also on industrial manipulators.

Keywords: teleoperation, cobots, null space, control, mathematical modeling, simulation

MSC: 93-02

Received: 07.11.2024
Accepted: 04.12.2024

Language: English

DOI: 10.20537/nd241210