Teleoperation of two non-isomorphic manipulators by Joint Space and Task Space Mapping

This paper presents real time teleoperation of a six degrees of freedom Serial manipulator with a six degrees of freedom Parallel manipulator. Generally for isomorphic manipulators joint space mapping is used where as for non-isomorphic manipulators task space mapping is performed. There are certain cases where even in non-isomorphic manipulators joint-space mapping is used, though it is not very intuitive. In this works teleoperation of the manipulators is implemented by both by Joint space and the Task space mapping of the manipulators. Teleoperation with both manipulators controllers in same PC and Teleoperation over the internet using TCP/IP communication is carried out and the experimental results are presented.