Teleoperation technology has become a feasible solution for the mobile manipulator to carry out complex tasks in remote environments, with its advantages of mobility and manipulability. However, due to the high redundancy of the mobile manipulator, its application in the field of teleoperation inevitably suffers from the problem of heterogeneity. This paper proposed an automatic-switching-based teleoperation framework with asymmetrical mapping and force feedback. Namely, special coefficients are designed to automatically switch the motion states of the remote robot, so that the traditional manual-based switching strategy can be replaced. Based on these coefficients, the hybrid asymmetrical mapping including the position–velocity and position–position modes can be achieved, as well as the force feedback considering the switching between the remote mobile platform and the manipulator, and thereby accomplishing the automatic switching during the teleoperation of the mobile manipulator. The comparative experiments and user study were carried out on the teleoperation platform. The experimental results show that this proposed teleoperation framework can reduce the time needed to complete the tasks and decrease the decision-making pressure of the operator, thus demonstrating the feasibility of the proposed framework.

中文翻译：

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基于自动切换的非对称映射和力反馈移动机械臂遥操作框架

遥操作技术以其机动性和可操控性的优势，成为移动机械臂在远程环境下执行复杂任务的可行解决方案。然而，由于移动机械臂的高冗余性，其在遥操作领域的应用不可避免地遇到异构性问题。本文提出了一种基于自动切换的具有非对称映射和力反馈的远程操作框架。即设计特殊系数来自动切换远程机器人的运动状态，从而取代传统的手动切换策略。基于这些系数，可以实现包括位置-速度和位置-位置模式的混合非对称映射，以及考虑远程移动平台和机械臂之间切换的力反馈，从而实现遥操作过程中的自动切换的移动机械手。在遥操作平台上进行了对比实验和用户研究。实验结果表明，所提出的遥操作框架可以减少完成任务所需的时间，减轻操作员的决策压力，从而证明了所提出框架的可行性。