WANG Yuji, SUN Fuchun, LIU Huaping, YANG Shaohong. Control Scheme and Kinematics Analysis for Space Teleoperation Based on 6-DOF Decoupled Manipulator[J]. INFORMATION AND CONTROL, 2012, 41(1): 38-43.
Citation:
WANG Yuji, SUN Fuchun, LIU Huaping, YANG Shaohong. Control Scheme and Kinematics Analysis for Space Teleoperation Based on 6-DOF Decoupled Manipulator[J]. INFORMATION AND CONTROL, 2012, 41(1): 38-43.
WANG Yuji, SUN Fuchun, LIU Huaping, YANG Shaohong. Control Scheme and Kinematics Analysis for Space Teleoperation Based on 6-DOF Decoupled Manipulator[J]. INFORMATION AND CONTROL, 2012, 41(1): 38-43.
Citation:
WANG Yuji, SUN Fuchun, LIU Huaping, YANG Shaohong. Control Scheme and Kinematics Analysis for Space Teleoperation Based on 6-DOF Decoupled Manipulator[J]. INFORMATION AND CONTROL, 2012, 41(1): 38-43.
Control Scheme and Kinematics Analysis for Space Teleoperation Based on 6-DOF Decoupled Manipulator
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.
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