Master-Slave Teleoperation Robot System Design

With the rapid development of modern automation and robotics, teleoperation robot technology has become one of the key technologies, widely used in dangerous or inaccessible environments such as deep-sea exploration, space missions, disaster rescue, and minimally invasive medical surgery. This paper proposes a novel master-slave teleoperation force feedback robot system aimed at improving operational accuracy and safety through advanced control algorithms and force feedback technology, while reducing the impact of communication delays. The paper introduces the designed master-slave teleoperation robot system, including the master teleoperation platform, teleoperation system, slave robot body and its various parts. It highlights key technologies of the system, such as the tracked mobile chassis, agile torso, 7-DOF flexible manipulator, 9-DOF mechanical master hand, and dual-eye visual camera on the head. In the experimental section, the paper demonstrates the passability test of the slave robot, including the ability to climb stairs, slopes, and high platforms. At the same time, it verifies the end positioning accuracy and continuous load capacity of the manipulator, as well as the tool grasping capability of the teleoperation system. The experimental results show that the designed system can meet most work requirements and perform some high-precision tasks.