Optimizing motion mapping of robonaut's arms in its teleoperation

A virtual reality-based teleportation system of the robonaut was established. The intuitively and accurately teleoperation of the robot's arms were realized using motion tracker. Due to the differences between the robonauts and human bodies, the methods of the traditional Cartesian space arm, which exists mapping precision and arm configuration differences, were analyzed. Furthermore, an optimized motion mapping method was introduced, which means that the manipulator terminal mapping precision is guaranteed using incremental control and the consistency of the configuration of the arm is ensured using matching workspace. The operators could manipulate the Robonaut intuitively and accurately by the optimized motion mapping method. The simulation results of the arm configuration and the movement tracking show that the optimized mapping method is very effective.