Six degrees of freedom manipulator teleoperation control method

The present invention discloses a six degrees of freedom manipulator teleoperation control method, using a second joystick velocity six degrees of freedom of the manipulator, the position and angle of three degrees of freedom having a first control lever and having three degrees of freedom control control, on the first lever is provided with a wrist force sensor a first three degrees of freedom, three degrees of freedom of the second wrist force sensor disposed on the second lever, the first lever having a first control mode and a second control mode, the first a speed control mode when the three-dimensional six degrees of freedom manipulator translational control terminal position, the second position control mode the position of the three-dimensional six degrees of freedom manipulator terminal translational control; a second lever having six degrees of freedom to achieve a third control mode the robot arm gripper pitch, and yaw rotational speed control mode, and fourth control six degrees of freedom and rotation of manipulator gripper pitch yaw angle control. The present invention may be conveniently implemented six degrees of freedom manipulator complex teleoperation.