Development of an anthropomorphic telemanipulation system

This article describes the development of a dual arm robotic manipulator with anthropomorphic kinematics. The goal of this work is mimicking the functionality of the human arms for the purpose of teleoperation. Two main issues are discussed. First, the kinematic control of the manipulators, including redundancy resolution and singularity robust inverse kinematics, is presented. Second issue is the comparative study of compliant control methods aiming at securing stable contact with unknown environments. As a practical benchmark an assembly experiment for a case of a negligible time delay was successfully performed.