Optimisation of robot teleoperation through increased operator control of a manipulator within a confined space

机器人手臂在整个研究和工业中被广泛用作有效的机械手。应用包括仓库拣选，制造，自动化农业和危险环境中的操作，他们目前正在工作或开发中。然而，当部署在一个有限的空间，它们的性能往往是下降，由于控制器难以解决的碰撞自由的路径。有效地远程操作机器人机械手在有限的空间（如在应用空间，核和医学[1]-[3]）需要优化和调整现有的技术。这项工作将探讨夹具的硬件和机械手控制器的优化，以及手套箱隔离器内的手臂遥操作的触觉要求。

Robotic arms are widely used as effective manipulators throughout research and industry. Applications include warehouse picking, manufacturing, automated farming and operation within hazardous environments, where they are currently working or in development. However, when deployed within a confined space, their performance is often degraded due to controllers struggling to solve for a collision free path. Effectively teleoperating a robotic manipulator within a confined space (such as in applications for space, nuclear and medicine [1]-[3]) requires optimisation and adjustment of currently existing technology. This work will explore the optimisation of the gripper's hardware and the manipulator controller as well as the haptic requirements for teleoperation of an arm within a glovebox isolator.