摘要
针对机械臂的遥操作控制问题,设计了一种机械臂遥操作控制系统,给出了遥操作系统结构设计和软硬件实现方案,推导了基于位姿分离算法的7自由度冗余机械臂正逆运动学模型。通过仿真试验验证了运动学求解方法的准确性,通过对机械臂实物进行遥操作实验,综合验证了遥操作系统设计的有效性。
A teleoperation system is designed to direct at the problem of robot teleoperation. Firstly, the significance of robot teleoperation system is expounded, and the teleoperation system structure is given, and then software and hardware system implementation scheme is determined. Secondly, a 7 DOF redundant manipulator inverse kinematics model is deduced based on a position-attitude separation method. The kinematics solution is proved to be accurate via the simulation experiment. Lastly, through the experiment of teleoperating the real robot, the teleoperation system is proved to be effective.
出处
《沈阳理工大学学报》
CAS
2013年第5期43-47,共5页
Journal of Shenyang Ligong University
关键词
遥操作
冗余度机器人
运动学逆解
teleoperation
redundant manipulator
inverse kinematics
