摘要
实验平台由主机械手、从机器人、远程视频监控和虚拟从手 4个子系统组成 ,其中主手为自行研制的HC0 1异构式力反馈手控器 ,从手为日本安川公司的MOTOMANSV3X型 6自由度工业机器人 .在此平台上可以进行通信时延、遥操作工作模式、临场感技术、虚拟现实技术和交互技术等方面的研究 .最后 ,以预见显示模式为例 ,进一步说明了实验平台的用途和用法 .实验表明 ,在 30s大时延情况下 ,预见显示模式时主手可以成功控制从手完成物体的抓取、移动和放置等操作 .
The platform consists of master manipulator, slave robot, remote monitor system and virtual slave hand. The master manipulator adopted HC01 heterogeneous force-reflecting hand controller made by the authors, and the slave hand adopted MOTOMAN-SV3X 6 DOF industry robot. Based on this platform, communication delay, tele-presence technology, virtual reality technology, interactive technology, and teleoperation mode etc. can be studied. Then with an example of predict display mode, the application of this experiment platform are further described. With 30s large time delay, the slave robot controlled by master manipulator can successfully performed some typical tasks such as grabbing, moving, laying and so on in predict display mode.
出处
《东南大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2004年第6期775-779,共5页
Journal of Southeast University：Natural Science Edition
基金
国家高技术研究发展计划 (863计划 )资助项目(2 0 0 1AA42 3 14 0 ) .
