遥控智能机器人双臂主机械手研制

介绍一种空间遥控智能机器人双臂主机械手的研制,重点讨论两个问题:一是如何高精度地在本地测量操作者手部的运动参数,并将其实时地传输给远在异地的从机械手;二是如何把从机械手在异地与环境的作用力高保真地传递给本地的操作者,使之获得如临其境的力觉临场感。不仅有效地提高了主机械手的位置精度,而且剔除了非线性因素对力矩计算的动态干扰,简化了运动学和动力学正逆实时解算的工作量,保证了其高保真的力觉性能。

Development of the Dual-arm Master Manipulator of Telecontrol Robot

This paper deals with the development of a dual-arm master manipulator of telerobot. In the field of master-slave manipulation, there are two important points to be considered when a master manipulator is designd. One is related to measuring the human operator's arm motion with high accuracy. Another is how to design an effective force/torque generator to make an operator feel the telepresence force that the slave arm will receive from the environment during tasks. To satisfy these requirements, the effective technique measurement should be taken during design.