Kinematics correspondence & scaling issues in virtual telerobotics systems

This paper describes how to establish a kinematic correspondence between the workspaces of master and slave devices using a virtual environment and its implementation on a teleoperation simulator. The virtual environment incorporates the kinematic and dynamic model of the slave robot and the remote environment. Mapping and scaling of workspaces have been added to the teleoperation simulator in order to give the operator a more natural interface having the possibility of changing his viewpoint of the remote scene. Experimental results are presented to verify the kinematic algorithms implemented