陈辉, 宋爱国, 金世俊, 黄惟一. 带有力觉和触觉临场感的灵巧手主从系统的设计[J]. 机器人, 1998, 20(6): 437-441,448..
CHEN Hui, SONG Aiguo, JIN Shijun, HUANG Weiyi. MASTER AND SLAVE SYSTEM DESIGN OF A DEXTEROUS HAND WITH FORCE AND TACTILE TELEPRESENCE. ROBOT, 1998, 20(6): 437-441,448..
Abstract:In teleoperated tasks, the operators usually lack force and tactile telepresence. In order to solve this problem, this paper introduces a system for dexterous hand with force and-tactile telepresence. The problems about sensing and reproduction of tactile and force are discussed.We present some new methods to reproduce-tactile using fuzzy control and to reproduce force using new force feedback-position structure.Finally,the experimental result is gived.
1 谢凯年,罗忠,刘文江.遥控机器人触觉显示器.机器人,1997,19(1),74~80 2 Grupen R A.Henders on T C,Mccammon I D.A Survey of General Purpose Manipulators.Int J Robotics Research,1989,8(1):38~62 3 高松海.遥控机器人.1981:56~59 4 陈惠开[美],吴新余等编著.现代网络分析,1992:469~481 5 金世俊.遥作机器人触觉临场感的电触觉实现.机器人,1997,19(5),333~337 6 Hideaki H.Development of a Multi-fingered Robot Hand with Fingertop Tactile Sens ors.Proceedings of the 1993 IEEE/RS J International Conference on In telligent Robots and Systems,1993:875~882 7 Dimitrios A Kontarinis,Jae S son.A Tactile Shape Sensing and Display System for Teleoperated Manipulation,1995:641~646