Different structure based control system of the PUMA manipulator with an arm exoskeleton

In this paper, we proposed a novel approach to control the famous PUMA manipulator with an arm exoskeleton which has been developed to enable force-feedback teleoperation and has totally different structures and dimensions from PUMA. We presented the hardware configuration and software implementation of the whole system, and then a particular issue was associated with workspace matching, which proved to be the key step for different structure based master/slave manipulator control. Finally, the conclusion was discussed, as well as the prospect of future work.