Dual-Arm Robot with Mobile Robot Platform with Master-Slave Configuration for Teleoperation Application

Abstract

Teleoperation applications nowadays use the mobile robot platform with attached robot arms and controlled remotely. For safety-critical applications such as health screening and swab testing in the medical field, human operators need to control the robot arm accurately. A standard remote control method like joystick requires high skilled personnel to operate the robot. Therefore, this work proposed a dual robot arm system with one of the arms is attached to a mobile robot platform. Meanwhile, the human operator manually moves another robot arm. At the same time, the robot arm on the mobile platform mimics the robot arm movement controlled by the human. This teleoperation procedure uses the master-slave configuration, which the first and second robot arm act as the master and slave, respectively. Both simulation and hardware testing validate the master-slave teleoperation performance.