Human-robot kinematics mapping method based on dynamic equivalent points

Jing Zhao, Xin Wang, Biyun Xie, Ziqiang Zhang

Research output: Contribution to journalArticlepeer-review

Abstract

Purpose: This paper aims to present a new kinematics mapping method based on dynamic equivalent points. In teleoperation, this method enables a robotic (follower) arm to mimic human (leader) arm postures and avoid obstacles in a human-like manner. Design/methodology/approach: The information of the human arm is extracted based on the characteristics of human arm motion, and the concept of equivalent points is introduced. Then, an equivalent point is determined to transform the robotic arm with a nonhuman-like kinematic structure into an anthropomorphic robotic arm. Based on this equivalent point, a mapping method is developed to ensure that the two arms are similar. Finally, the similarity between the human elbow angle and robot elbow angle is further improved by using this method and an augmented Jacobian matrix with a compensation coefficient. Findings: Numerical simulations and physical prototype experiments are conducted to verify the effectiveness and feasibility of the proposed method. In environments with obstacles, this method can adjust the position of the equivalent point in real time to avoid obstacles. In environments without obstacles, the similarity between the human elbow angle and robot elbow angle is further improved at the expense of the end-effector accuracy. Originality/value: This study presents a new kinematics mapping method, which can realize the complete mapping between the human arm and heterogeneous robotic arm in teleoperation. This method is versatile and can be applied to various mechanical arms with different structures.

Original languageEnglish
Pages (from-to)219-233
Number of pages15
JournalIndustrial Robot
Volume50
Issue number2
DOIs
StatePublished - Feb 17 2023

Bibliographical note

Publisher Copyright:
© 2022, Emerald Publishing Limited.

Keywords

  • Dynamic equivalent points
  • Kinematics mapping method
  • Robotics
  • Teleoperation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Industrial and Manufacturing Engineering

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