Control Method for Realistic Motion in a Construction Tele-robotic System with a 3-DOF Parallel Mechanism

被引：0

作者：

Zhao, Dingxuan ^{[1
]}

Xia, Yupeng ^{[1
]}

Yamada, Hironao ^{[1
]}

Muto, Takayoshi ^{[1
]}

机构：

[1] Department of Mechanical and Systems Engineering, Gifu University, 1-1. Yanagido, Gifu

来源：

Journal of Robotics and Mechatronics | 2003年 / 15卷 / 04期

关键词：

acceleration sensors; construction robot; parallel mechanism; tele-operation; virtual realty;

D O I：

10.20965/jrm.2003.p0361

中图分类号：

学科分类号：

摘要：

In this study, we developed a construction tele-robotic system, which can be widely used, for example, for restoration works in damaged areas. The system consists of a servo-controlled construction robot, two joysticks for operations of the robot from a remote place and a 3-degree-of-freedom (DOF) parallel mechanism. An important problem to be solved in such a system is how to convey adequate presence of working area in a high quality to the operator. In this paper, we propose a control method of a 3-DOF parallel link mechanism to simulate the motion of the construction robot by using three acceleration sensors. The validity of this method has been confirmed experimentally. According to the experimental result, each motion of roll, pitch and heave of the construction robot can be simulated accurately by the 3-DOF parallel mechanisms. © 2003 Fuji Technology Press Ltd.

引用

页码：361 / 368

页数：7

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