A robot teaching framework for a redundant dual arm manipulator with teleoperation from exoskeleton motion data

In this paper we present a master-slave system to program dual arm industrial robots. Since traditional robot motion programming apparatus, teach pendants, usually deal with single arm motions, it is difficult to teach dual arm motions requiring synchronization of the arms. Furthermore, a teach pendant is 1-dimensional position input device which is not sufficient to teach 3-dimensional motions so that it requires quite much time for teaching complex motions. To deal with this problem, we developed a passive exoskeleton as a master device for a master-slave teleoperation system. The proposed teleoperation-based robot programming method was verified through experiments on via point teaching. An operational space framework is adopted to control the slave arm.