摘要
介绍了一种面向网络遥操作的数据臂平台的设计及其关键技术。针对网络遥操作中的不定时延和主从臂的异构控制等问题提出了解决方案。依据面向关节的思想,设计了一种对操作者主动臂关节实现最大解耦和带有部分关节力反馈的数据臂机构,以此为基础建立了面向网络遥操作的主从臂控制仿真平台,并完成了主从臂的异构控制试验。
The paper introduces a kind of design and key technology of network oriented transacting data in the distance. It solves some problems about indefinite time hesitation and control of subordinating arms. According to idea of joint oriented, the paper designs a kind of data arms mechanisms of realizing maximal undoing coupling and partial joint force feedback to in - process arm joint. On the base the paper builds a simulation platform of subordinating arms control of network oriented transacting data in the distance and accomplishes isomerism control testing of subordinating arms.
出处
《机电一体化》
2005年第2期60-62,共3页
Mechatronics
基金
国家自然科学基金(60205005)资助。
