双边主从手系统的设计与评价

Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication Pub Date : 1993-11-03 DOI:10.1109/ROMAN.1993.367684

K. Yoshida, T. Yabuta

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引用次数: 1

摘要

研制了一种双侧主从手系统原型。主手和从手都由三个机器人手指组成，使用3个自由度(DOF)的小型机械手，每个机械手都配备有3轴力传感器，以便向操作员反馈力。本文描述了主从手系统，并基于双端对网络的概念对系统性能进行了评价。仿真结果表明，该主从手系统采用先前提出的双边控制算法，在低频域可以实现近乎理想的响应。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Design and evaluation of a bilateral master-slave hand system

A prototype bilateral master-slave hand system has been developed. Both the master and slave hands consist of three robot fingers using 3 degree-of-freedom (DOF) small manipulators each equipped with 3-axis force sensor to enable force feedback to the operator. In this paper, the master-slave hand system is described, and the system performance is evaluated based on the concept of the two-terminal pair network. Simulation results are reported which show that this master-slave hand system, using a bilateral control algorithm which was proposed previously, can realize almost ideal response in the low-frequency domain.<>

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Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication

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