Human–robot kinematic mapping method based on index constraint

Abstract

Mimicry-based teleoperation has been widely used in various fields due to its superior scalability. Converting the mapping information of the human arm to the robotic arm is a key problem in teleoperation. However, existing methods only study how to map the motion information but do not consider the performance of the robotic arm after mapping, which often leads to task failure due to the substandard performance of the robotic arm. Therefore, for a class of robotic arms with wrist structures, a new kinematic mapping method is proposed to enable the robotic arm to meet the requirements of the index in real-time. First, an index space module is built to efficiently solve the index space containing all mapping information and indexes. Then, the mapping model solving module is established, which can make the robotic arm meet the index requirements when following the human arm. On this basis, the kinematic mapping module is proposed to convert the mapping information into the joint angle of the robot arm. Finally, numerical simulations and physical prototype experiments are conducted to verify the effectiveness of the proposed method.