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- Title
主从遥操作机械手工作空间覆盖控制策略研究.
- Authors
李强; 曾宇飞; 武圣杰; 张华良
- Abstract
In order to solve the problem that the workspace of the master controller is too tiny and the workspace of the master is not matched with and slave hands, a method of area coverage was proposed. The one-to-one mapping relationship between master controller workspace and manipulator workspace was transformed into multiple region mapping relationship of master hand workspace, and the purpose of region coverage was achieved by establishing the connection between master and slave hands for many times. At the same time, in order to better control the posture of the manipulator, a relative motion posture control method was designed, which replaced the absolute posture coordinates transmitted to the manipulator with posture motion information, so as to achieve the purpose of relative posture control. The results show that the proposed method can achieve perfect coverage of the workspace, and the master hand can control the slave hand motion effectively.
- Publication
Machine Tool & Hydraulics, 2024, Vol 52, Issue 2, p18
- ISSN
1001-3881
- Publication type
Article
- DOI
10.3969/j.issn.1001-3881.2024.02.003