非线性位置与速度的遥操作控制算法 | |
Alternative Title | Remote operation control algorithm of non-linear position and speed |
冷雨泉![]() ![]() ![]() ![]() ![]() ![]() ![]() ![]() | |
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 Abstract | The 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 | 否 |
Application Date | 2015-05-04 |
2016-12-07 | |
Date Available | 2019-03-19 |
Application Number | CN201510221236.2 |
Open (Notice) Number | CN106200685B |
Language | 中文 |
Contribution Rank | 1 |
Document Type | 专利 |
Identifier | http://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: | ||||||
File Name/Size | DocType | Version | Access | License | ||
CN201510221236.2授权.p(348KB) | 专利 | 开放获取 | CC BY-NC-SA | View Application Full Text |
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