Remote force control of robot using PHANToM haptic model and force sensor

Remote force control of robot using PHANToM haptic model and force sensor
复制标题

使用 PHANToM 触觉模型和力传感器对机器人进行远程力控制

DOI：
10.1109/isatp.2001.928978
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发表时间：
2001
期刊：
Proceedings of the 2001 IEEE International Symposium on Assembly and Task Planning (ISATP2001). Assembly and Disassembly in the Twenty-first Century. (Cat. No.01TH8560)
影响因子：
--
通讯作者：
H. Taki
H. Taki
中科院分区：
--
文献类型：
--
作者：
T. Horie;K. Tanaka;N. Abe;H. Taki

文献摘要

被引文献

相似文献

主从控制是在控制远程机器人时经常使用的技术。在这种技术中，操作员可以在注意到添加到机器人的力的同时工作。然而，当机器人（从机）和操作者（主机）之间的通信所花费的时间长时，精确的控制变得困难。本研究的目的是利用机器人的姿态和传感器检测到的值来生成力环境。这样，即使通信时间长，操作员也可以在感知施加到机器人上的力的同时适当地操作机器人。
The master slave control is a technique often used when controlling a remote robot. In this technique, the operator can work while he notices the force which is added to the robot. However, when the taken time in the communication between the robot (the slave) and the operator (the master) is long, accurate control becomes difficult. This research aims to generate the force environment using the posture of the robot and the value detected with the sensor. With this, even if the communication time was long, the operator could operate a robot appropriately while he sensed the force added to the robot.