工作多指机械手的研制

EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI:10.1109/IROS.1990.262508

Takeo Oomichi, A. Okino, M. Higuchi, A. Maekawa, Ken Ohnishi

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引用次数: 20

摘要

介绍了采用主从方式远程控制多指机械手的多感官双向控制的硬件和软件。实验和评估表明，通过计算机控制由14个轴组成的配有关节角度/功率传感器和触觉传感器的从指机械手，可以完成传统末端执行器无法完成的精细工作。主指机械手操纵从指机械手和感觉产生机构，将从指机械手所感受到的感觉传递给操作者。

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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Development of working multifinger hand manipulator

Introduces the hardware and software of the multiple sensory bilateral control for the multi-finger manipulator which is remotely controlled by the master-slave method. From experiments and evaluation the authors show that it is possible to carry out detailed works, which had been impossible when using the conventional end effector, by controlling through a computer the slave finger manipulator consisting of 14 axes equipped with joint angle/power sensors and tactile sensors, and the master finger manipulator which operates the slave finger manipulator and the feeling generation mechanism conveys the sensation felt by the slave finger manipulator to the operator.<>

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EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications

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