| 机械臂遥操作控制系统设计与实现 |
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| 引用本文： | 于洋,邢葆轶. 机械臂遥操作控制系统设计与实现[J]. 沈阳理工大学学报, 2013, 0(5): 43-47 |
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| 作者姓名： | 于洋 邢葆轶 |
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| 作者单位： | 沈阳理工大学信息科学与工程学院,辽宁沈阳110159 |
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| 摘 要： | 针对机械臂的遥操作控制问题，设计了一种机械臂遥操作控制系统，给出了遥操作系统结构设计和软硬件实现方案，推导了基于位姿分离算法的7自由度冗余机械臂正逆运动学模型。通过仿真试验验证了运动学求解方法的准确性，通过对机械臂实物进行遥操作实验，综合验证了遥操作系统设计的有效性。
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| 关 键 词： | 遥操作 冗余度机器人 运动学逆解 |
Design and Implementation of Robot Teleoperation System |
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| YU Yang,XING Baoyi. Design and Implementation of Robot Teleoperation System[J]. Transactions of Shenyang Ligong University, 2013, 0(5): 43-47 |
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| Authors: | YU Yang XING Baoyi |
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| Affiliation: | ( Shenyang Ligong University, Shenyang 110159, China) |
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| Abstract: | A teleoperation system is designed to direct at the problem of robot teleoperation. Firstly, the significance of robot teleoperation system is expounded, and the teleoperation system structure is given, and then software and hardware system implementation scheme is determined. Secondly, a 7 DOF redundant manipulator inverse kinematics model is deduced based on a position-attitude separation method. The kinematics solution is proved to be accurate via the simulation experiment. Lastly, through the experiment of teleoperating the real robot, the teleoperation system is proved to be effective. |
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| Keywords: | teleoperation redundant manipulator inverse kinematics |
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