中国科学院沈阳自动化研究所机构知识库
Advanced  
SIA OpenIR  > 机器人学研究室  > 会议论文
题名: Master-slave teleoperation method of redundant manipulator
作者: Chen Y(陈洋) ; Chen P(陈鹏)
作者部门: 机器人学研究室
会议名称: 4th International Conference on Manufacturing Science and Engineering, ICMSE 2013
会议日期: March 30-31, 2013
会议地点: Dalian, China
会议录: Advanced Materials Research
会议录出版者: Trans Tech Publications Ltd
会议录出版地: Zurich-Durnten, Switzerland
出版日期: 2013
页码: 1690-1695
收录类别: CPCI(ISTP) ; EI
ISSN号: 1022-6680
ISBN号: 978-3037856932
关键词: Industrial manipulators ; Interpolation ; Inverse kinematics ; Motion planning ; Remote control
摘要: This paper introduces a master-slave control method of teleoperating a redundant manipulator with double handles. The master handles send motion commands in the form of increments. The mapping module transforms the commands into homogeneous matrices. And the slave manipulator links discrete motion commands in the mode of PVAT automatically, by inverse kinematics and fifth-order polynomial interpolation. Simulations and experiments are taken to prove the effectiveness of the control method in the paper.
产权排序: 2
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/12414
Appears in Collections:机器人学研究室_会议论文

Files in This Item: Download All
File Name/ File Size Content Type Version Access License
Master-slave teleoperation method of redundant manipulator.pdf(317KB)----开放获取View Download
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[Chen Y(陈洋)]'s Articles
[Chen P(陈鹏)]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[Chen Y(陈洋)]‘s Articles
[Chen P(陈鹏)]‘s Articles
Related Copyright Policies
Null
Social Bookmarking
Add to CiteULike Add to Connotea Add to Del.icio.us Add to Digg Add to Reddit
文件名: Master-slave teleoperation method of redundant manipulator.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 
评注功能仅针对注册用户开放,请您登录
您对该条目有什么异议,请填写以下表单,管理员会尽快联系您。
内 容:
Email:  *
单位:
验证码:   刷新
您在IR的使用过程中有什么好的想法或者建议可以反馈给我们。
标 题:
 *
内 容:
Email:  *
验证码:   刷新

Items in IR are protected by copyright, with all rights reserved, unless otherwise indicated.

 

 

Valid XHTML 1.0!
Copyright © 2007-2016  中国科学院沈阳自动化研究所 - Feedback
Powered by CSpace