• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文会议>International power electronics and motion control conference;IPEMC'97 >The motion control method of a master-slave manipulator system in underwater work
【24h】

The motion control method of a master-slave manipulator system in underwater work

机译：水下作业中主从机械手系统的运动控制方法

获取原文
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

A master-slave manipulator is necessary for performing tasks in hositle environments such as nuclear facilities, outer space and underwater, which are not easily accessible to human beings. The integration of human and computer control described in this work not only aides the operator in the presence of poor sensory feedback, but provides a redundancy check on commanded manipulator motions, This significantly increases manipulator safety even if the manipulator is not remotely located. In fact, a strong motivation for thework reported here has been the application of manipulators to handling fragile materials. We propose new control schemes of master-slave manipulators that provide the ideal kinestetic coupling such that the operator can maneuver the system as through he/she were directly aminpulating the remote object himself / herself. The proposed control scheme is intrroduced toa prototype master-slave system and the experimental results show the validity of the proposed shcmem.
机译：在诸如人类难以接近的核设施，外层空间和水下等恶劣环境中执行任务时，必须使用主从操纵器。这项工作中描述的人机控制和计算机控制的集成，不仅可以在感觉反馈较差的情况下为操作员提供帮助，而且还可以对指令的机械手运动进行冗余检查，即使机械手不在远处，也可以显着提高机械手的安全性。实际上，这里报道的工作的主要动机是操纵器在处理易碎材料方面的应用。我们提出了新的主从机械手控制方案，该方案提供了理想的运动学耦合，从而使操作员可以操纵系统，就像他/她直接将远程对象自己带走。将所提出的控制方案引入样机主从系统中，实验结果证明了所提出的控制方案的有效性。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号