| 基于6-DOF解耦操作臂的空间遥操作控制及运动学分析 |
| |
| 引用本文： | 王裕基,孙富春,刘华平,杨绍红.基于6-DOF解耦操作臂的空间遥操作控制及运动学分析[J].信息与控制,2012,41(1):38-43. |
| |
| 作者姓名： | 王裕基 孙富春 刘华平 杨绍红 |
| |
| 作者单位： | 1. 清华大学计算机科学与技术系 清华信息科学与技术国家实验室 智能技术与系统国家重点实验室,北京,100084
2. 青藏铁路公司西宁车辆段,青海西宁,810006 |
| |
| 基金项目： | 国家自然科学基金资助项目，国家973计划资助项目 |
| |
| 摘 要： | 针对由6-DOF解耦操作臂及其末端手爪组成的操作臂系统,设计了符合工程实际的遥操作控制策略,并提出了一种简单的运动学解算方法.采用Motoman工业操作臂,对提出的方法进行了实验验证.实验结果证明了所提方法的可行性.
|
| 关 键 词： | 空间遥操作 控制 运动学 6自由度 |
Control Scheme and Kinematics Analysis for Space Teleoperation Based on 6-DOF Decoupled Manipulator |
| |
| WANG Yuji
,
SUN Fuchun
,
LIU Huaping
,
YANG Shaohong.Control Scheme and Kinematics Analysis for Space Teleoperation Based on 6-DOF Decoupled Manipulator[J].Information and Control,2012,41(1):38-43. |
| |
| Authors: | WANG Yuji SUN Fuchun LIU Huaping YANG Shaohong |
| |
| Affiliation: | 1.Tsinghua National Laboratory for Information Science and Technology,State Key Laboratory of Intelligent Technology and Systems, Department of Computer Science and Technology,Tsinghua University,Beijing 100084,China; 2.Xining Vehicles Section,Qinghai-Tibet Railway Company,Xining 810006,China) |
| |
| Abstract: | As to the system consisting of the 6-DOF decoupled manipulator and the gripper,a teleoperation control scheme is designed which is suitable for the actual projects,and a simple approach to kinematics calculation is also proposed.The proposed methods are tested on a Motoman industrial manipulator.The experiment results verify their feasibility. |
| |
| Keywords: | space teleoperation control kinematics 6-DOF(degree of freedom) |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
|
