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

机械臂作为一种有效的机械臂在科研和工业中得到了广泛的应用。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，当部署在密闭空间中时，由于控制器努力解决无碰撞路径，它们的性能通常会下降。在有限空间内有效地远程操作机械臂（如在空间、核和医学应用中）需要对现有技术进行优化和调整。这项工作将探索抓手硬件和机械手控制器的优化，以及手套箱隔离器内手臂远程操作的触觉要求。

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.