Аннотация:
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.
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