System and method for controlling a teleoperated robotic agile lift system

摘要

A method for controlling a tele-operated robot agile lift system is disclosed. The method comprises manipulating a human-machine interface of a master robot located on a mobile platform. The human machine interface is kinematically equivalent to a user's arm with a plurality of support members. A position value and a torque value is measured for each support member. The position value and torque value are communicated to support members of a kinematically equivalent slave arm to position the support members to correspond with a position of the human-machine interface.

主权项

1. A system for controlling a tele-operated robot, comprising:
a master control arm comprising a plurality of support members that are each connected through rotatable joints to provide kinematic equivalence of the master control arm with a user's arm; a General Degree of Freedom (DOF) Controller (GDC) coupled to each rotatable joint providing a DOF in the master control arm, wherein the GDC is configured to measure a position value signal and a torque value signal for each DOF; an operator load cell interface configured to interface with the user operating the master control arm and output a force value signal relative to a movement of the user's arm with respect to the master control arm; and an actuator coupled to each rotatable joint providing a DOF in the master control arm, wherein the actuator is configured to be actuated based on the position value signal, the torque value signal, and the force value signal to move the master control arm to a desired position; and a slave arm having a plurality of support members connected through rotatable joints to provide a kinematic equivalence of the slave arm with the master control arm, wherein the slave arm is located on a mobile platform, wherein the slave arm is configured to receive the position value signal and the torque value signal from the master control arm and actuate the plurality of support members to move the slave arm to correspond with a position of the plurality of segments in the master control arm.