The Telerobot System And Research On The Grasping Algorithm Of It's Gripper

Telerobot working under interaction mode is an effective technology for working and remote manipulation in the environment generally inaccessible or dangerous to man. Telepresence is the core of human-machine interaction. In a teleoperation system with telepresence, information including vision, force, tactility, motion of the remote slave robot and its environment are feedback to the local operator and make the operator feel being in the real environment, so that he can perform telemanipulation task effectively. Force telepresence technique is one of the major forms of telepresence technology. It is very important in implementing the remote task.In this paper, we work on remote teleoperation robotics system, which is assigned by the project of control technology and master arm research of telerobot. The project is a part of National 863 Project. Mostly on slave manipulator system, the design of the telerobot gripper is introduced, and the algorithm of telerobot active grasp is investigated in detail. Finally, we experiment with the new theory.Firstly, in the article, the teleoperation robot system experiment demonstration instrument built up by our project team is introduced, a dynamic analysis of the robot from mathematics angle based on robot dynamics is made, and the dynamic positive resolution & negative resolution of Motoman-SV3X industrial robot is deduced. Secondly, the designing method of the gripper with multi-sensors is described in detail in this paper. The gripper can provide force, tactile and position information. The method includes configuration design, sensor and testing circuit design, controlling system design and software design. Thirdly, the contact stability measurement is studied based on the robot gripper designed and furthermore active grasp strategy from the robot is deduced. The research of grasp algorithm has important meaning to the system enhancement and labor intensity relief. Lastly, the results of our experiments show the effectiveness and exactness of our algorithm.