Operator Attitude Algorithm for an Isomorphic Master-slave Telerobotic System

This paper presents an operator attitude algorithm for an isomorphic master-slave telerobotic system to realize motion mapping from human master to slave robot. The human attitude is measured via a wearable motion capture system based on inertial navigation sensors (INS), which can be used as motion control command of each joint of slave robot with a humanoid structure. Experiment are conducted on the telerobotic system, and performance analyses on attitude algorithm were carried out. Results show that the proposed attitude solving method can meet the requirements for fast and accurate attitude solution so as to make the slave robot follow the motions of human operator in real-time.