In this project, our main objective is to design and construct a teleoperation control system for a 6-DOF cable-driven hyper-redundant robot (CDHR). The system enables control of the CDHR's end-effector position and provides force feedback through a haptic device. In the master-slave teleoperation, a 6-DOF CDHR is controlled using a distributed CAN bus network to control six actuators synchronously. We propose a Jacobian method to solve the inverse kinematics problem for robots that have large DOFs. The master component of the system is the Novint Falcon haptic device, which is based on the 3-DOF Delta parallel robot. Therefore, the workspace of the slave manipulator is usually much larger than that of the master manipulator. To solve this, a workspace mapping method is proposed to align the workspaces of the two robots, ensuring compatibility and smooth interaction between the operator and the CDHR. The haptic feedback is used to warn the operator when movements into the singularity position fall outside the workspace of the CDHR. A virtual force feedback method is also implemented to create a virtual spring-damping system. A hardware-in-loop simulation and some practical experiments were conducted to validate the effectiveness and efficiency of the proposed solutions.

Hyper-redundant, Cable-driven manipulator, Jacobian, Workspace mapping, Novint Falcon, Teleoperated control, Haptic rendering

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