空间柔性结构上的双臂机械手遥操作实验研究

2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings. Pub Date : 2004-08-26 DOI:10.1109/ICIMA.2004.1384219

D. Nenchev, T. Hishinuma

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引用次数: 0

摘要

摘要:本文介绍了一种安装在柔性基座上的双臂机械手遥操作实验系统。将机械手与基座布置在水平面上，可以忽略重力的影响，设想了一种适用于空间的长臂机械手。基于先前提出的反应零空间概念，提出了几种双臂机械臂远控策略，并对其性能进行了实验验证。

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Experimental teleoperation of a dual-arm manipulator mounted on a flexible structure in space

Abstmct- This paper describes an experimental system for teleoperation of a dual-arm manipulator mounted on a flexible base. The manipulators and the base are arranged in the horizontal plane so that gravity forces can be neglected and a long-reach manipulator for space application is envisioned. Based on the Reaction Null Space concept developed previously, we propose several strategies for telecontrol of the dual-arm manipulator and verify their perfomance experimentally.

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2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.

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