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

被引：10

作者：

Horie, T ^{[1
]}

Tanaka, K ^{[1
]}

Abe, N ^{[1
]}

Taki, H ^{[1
]}

机构：

[1] Kyushu Inst Technol, Fac Comp Sci & Syst Engn, Kitakyushu, Fukuoka, Japan

来源：

PROCEEDINGS OF THE 2001 IEEE INTERNATIONAL SYMPOSIUM ON ASSEMBLY AND TASK PLANNING (ISATP2001): ASSEMBLY AND DISASSEMBLY IN THE TWENTY-FIRST CENTURY | 2001年

关键词：

D O I：

10.1109/ISATP.2001.928978

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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 aimes 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.

引用

页码：128 / 135

页数：2