SIA OpenIR  > 空间自动化技术研究室
非线性位置与速度的遥操作控制算法
Alternative TitleRemote operation control algorithm of non-linear position and speed
冷雨泉; 张会文; 张阳; 张伟; 何旭; 刘玉旺; 骆海涛; 陈正仓; 蔺兆宝; 付明亮
Department空间自动化技术研究室
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Country中国
Subtype发明授权
Status有权
Abstract本发明涉及非线性位置与速度的遥操作控制算法,将遥操作器的任意自由度的正向或负向运动范围分割为非线性位置对应部分和非线性速度对应部分;非线性位置对应部分为遥操作器的前段位置,控制机械臂相应自由度的正向或负向运动的行程位置;速度对应部分为遥操作器的后段位置,非线性控制机械臂相应自由度的正向或负向运动的速度;前段位置和后段位置的连接处为过渡点。本发明结合位置对应法与速度法的优势,将对应关系分成两部分,前半部分实现位置对应,后半部分实现速度对应,且相应的对应关系为非线性,能够使精细操作和快速操作两种效果同时实现。
Other AbstractThe algorithm comprises instructions to divide the positive or negative range of motion of any degrees of freedom of teleoperation which is a non-linear position corresponding section and a non-linear velocity corresponding section which is the front position of teleoperation device. The position of non-linear velocity corresponding portion is the latter position of remote manipulator. The speed of positive or negative motion of the corresponding degree of freedom of the manipulator is controlled and the connection between front position and rear position is the transition point.
PCT Attributes
Application Date2015-05-04
2016-12-07
Date Available2019-03-19
Application NumberCN201510221236.2
Open (Notice) NumberCN106200685B
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/24363
Collection空间自动化技术研究室
Affiliation中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
冷雨泉,张会文,张阳,等. 非线性位置与速度的遥操作控制算法[P]. 2016-12-07.
Files in This Item: Download All
File Name/Size DocType Version Access License
CN201510221236.2授权.p(348KB)专利 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[冷雨泉]'s Articles
[张会文]'s Articles
[张阳]'s Articles
Baidu academic
Similar articles in Baidu academic
[冷雨泉]'s Articles
[张会文]'s Articles
[张阳]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[冷雨泉]'s Articles
[张会文]'s Articles
[张阳]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: CN201510221236.2授权.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

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