Teleoperation Setup for Robotic Arms Using FK & IK

A usable teleoperation system minimizes cognitive load. Start by defining a canonical task-space frame (tool flange) and a consistent handedness. Map the operator input device (VR controller, 6DOF puck, or glove) into that frame with a calibration pose to remove bias.

Forward kinematics (FK) runs continuously on the robot side to publish end-effector pose and joint states. The operator client subscribes to this for visual feedback and constraint visualization (joint limits, singularity proximity).

Desired pose deltas from the operator are fed into an IK solver. For speed, a damped least-squares iterative solver (Levenberg–Marquardt style) with manipulability weighting is often enough. Cache Jacobians where possible and adapt damping based on conditioning.

Apply filtering: an exponential moving average on translation, spherical linear interpolation on orientation, and a small deadband to ignore operator micro jitter. Enforce velocity and acceleration limits before sending joint targets to the controller.

Safety layers: joint limit margin check, collision model distance threshold, watchdog timeout (if operator stream stops, freeze joints), and optional supervised autonomy (blending operator intent with auto-alignment for grasp approach).

Logging every (desired_pose, resolved_joints, error_norm) triple lets you refine solver parameters and detect emerging singular behavior early.