A manipulative instrument with simultaneous gesture and end-effector trajectory planning and controlling

Area of Science:

• Robotics
• Human-Computer Interaction
• Control Systems

Background:

• Teleoperation of redundant manipulators requires simultaneous control of end-effector trajectory and manipulator gesture.
• Existing multi-tasking methods face challenges with local solutions and divergence.
• Incorporating human motion offers a flexible approach to online programming.

Purpose of the Study:

• To develop a manipulative instrument for simultaneous control of arm gesture and end-effector trajectory via human teleoperation.
• To resolve local-solution and divergence problems in multi-tasking methods for redundant manipulators.
• To validate the proposed method through simulations and experiments.

Main Methods:

• Human motion capture using marker systems for gesture data processing.
• Implementation of manipulator kinematics control via an augmented multi-tasking method.
• Utilizing forward and backward reaching inverse kinematics for precise control.

Main Results:

• The augmented multi-tasking method demonstrated good end-effector position accuracy.
• The proposed method achieved human-like gesture replication.
• Successful online realization of the manipulative instrument was confirmed through experiments.

Conclusions:

• The augmented multi-tasking method effectively addresses limitations of traditional multi-tasking approaches.
• The developed instrument enables intuitive and accurate teleoperation of redundant manipulators.
• The study validates the feasibility of real-time, human-guided manipulator control.