A force-aware reproduction-based workspace mapping method for human-computer cooperative systems

To enhance the robustness and proximity of robotic arm motion in human-machine cooperative systems, a master-slave workspace mapping method for human-machine cooperative systems based on force awareness in the present is proposed in the paper. The method utilizes a man-machine cooperative system composed of master-slave heterogeneous robotic arms, adds joint mapping algorithm based on the hybrid mapping algorithm of rate and position, and defines drift region and operation region at the master end to ensure the stability of the system. Meanwhile, the virtual workspace of the robotic arm at the main end is fed back to the operator in the form of haptics by using force sense reproduction technology, which enhances the sense of presence of the system operation and achieves precise and efficient remote operation under the limited working space. Finally, the proposed method is validated on the experimental platform of the built system. The experimental results demonstrate that the mapping method can enable the man-machine cooperative system composed of master-slave heterogeneous robotic arms to have a larger working space utilization, better path following and target localization, and realize the continuous motion control of the system.