基于6-DOF解耦操作臂的空间遥操作控制及运动学分析

Control Scheme and Kinematics Analysis for Space Teleoperation Based on 6-DOF Decoupled Manipulator

摘要: 针对由6-DOF解耦操作臂及其末端手爪组成的操作臂系统，设计了符合工程实际的遥操作控制策略，并提出了一种简单的运动学解算方法．采用Motoman工业操作臂，对提出的方法进行了实验验证．实验结果证明了所提方法的可行性．

Abstract: As to the system consisting of the 6-DOF decoupled manipulator and the gripper,a teleoperation control scheme is designed which is suitable for the actual projects,and a simple approach to kinematics calculation is also proposed.The proposed methods are tested on a Motoman industrial manipulator.The experiment results verify their feasibility.