Utilization of a 3D Mouse and Motion Scaling for Operation Enhancement of a Telemanipulator

Abstract

Better operational transparency in a teleoperation system plays key role to the performance of completing designated tasks. In this paper we proposed a teleoperation strategy using a 3D mouse as the control interface at the local site to control robot manipulator at the remote site. A decoupling strategy has been implemented for the 3D mouse that takes into account the observed intention-output mismatch caused by the coupling effect. Error-based variable weights were also used to incorporate information about the remote environment for motion scaling. The experimental results on tele-pressing a button showed that the teleoperation performance could be effectively improved by the proposed method for button pressing task.