信息与控制2012，Vol.41Issue(1)：38-43,6.DOI:10.3724/SP.J.1219.2012.00038
基于6-DOF解耦操作臂的空间遥操作控制及运动学分析
Control Scheme and Kinematics Analysis for Space Teleoperation Based on 6-DOF Decoupled Manipulator
摘要
Abstract
As to the system consisting of the 6-DOF decoupled manipulator and the gripper, a teleoperation control scheme is designed which is suitable for the actual projects, and a simple approach to kinematics calculation is also proposed. The proposed methods are tested on a Motoman industrial manipulator. The experiment results verify their feasibility.关键词
空间遥操作/控制/运动学/6自由度Key words
space teleoperation/ control/ kinematics/ 6-DOF (degree of freedom)分类
信息技术与安全科学引用本文复制引用
王裕基,孙富春,刘华平,杨绍红..基于6-DOF解耦操作臂的空间遥操作控制及运动学分析[J].信息与控制,2012,41(1):38-43,6.基金项目
国家自然科学基金资助项目(60625304,90716021):国家973计划资助项目(G2007CB311003.2009CB724002). （60625304,90716021）
