Teleoperation System Design for Live Working Robot Based on Position-Velocity Mapping

Based on the teleoperation requirements for live working robot, this article investigates smooth control method for master-slave heterogeneous teleoperation system. Addressing the problem of poor motion smoothness in the slave manipulator with position-position mapping-based master-slave teleoperation system, a Jacobian matrix-based master-slave position-tovelocity mapping strategy is proposed, which maps the position of the master joystick to the desired end-effector velocity of the slave manipulator. The motion smoothness of the slave manipulator is improved obviously. Furthermore, a simulation platform for the bypass live working robot teleoperation system is constructed, including a master teleoperation subsystem with humanmachine interface and a virtual working subsystem for the slave manipulator. The simulation results of teleoperating live working robot to suspend bypass drop cables verified the effectiveness of the proposed strategy.