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首页> 外文期刊>International journal of robotics research and development >SIMULATION BASED DESIGN OF ROBOTIC ARM AND OMNI DIRECTIONAL DRIVE MECHANISM OF DEXTO:EKA:
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SIMULATION BASED DESIGN OF ROBOTIC ARM AND OMNI DIRECTIONAL DRIVE MECHANISM OF DEXTO:EKA:

机译：DEXTO：EKA的机器人手臂和全向定向驱动机构的基于仿真的设计：

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摘要

The presented paper is concerned with simulation based designing of a low-cost, easy to use, intuitive interface for the control of a slave anthropomorphic tele-operated robot. Tele-operator "masters", that operate in real-time with the robot, have ranged from simple motion capture devices, to more complex force reflective exoskeletal masters. Our general design approach has been to begin with the definition of desired objective behaviours, rather than the use of available components with their predefined technical specifications. With the technical specifications of the components necessary to achieve the desired behaviours defined, the components are either acquired, or in most cases, developed and built. The control system, which includes the operation of feedback approaches, acting in collaboration with physical machinery, is then defined and implemented.
机译：提出的论文涉及基于仿真的低成本，易于使用，直观的界面设计，用于控制从属拟人遥控机器人。与机器人实时操作的远距操纵“主控器”的范围从简单的运动捕捉设备到更复杂的力反射外骨骼主控器。我们一般的设计方法是从定义所需的目标行为开始，而不是使用具有预定义技术规范的可用组件。通过定义实现所需行为所需的组件技术规范，可以获取组件，或者在大多数情况下可以开发和制造组件。然后定义并实现控制系统，该系统包括与物理机械协作执行的反馈方法的操作。

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