高理富, 王定成, 唐毅, 张建军, 葛运建, 宋宁. 一种具有力觉触觉临场感的主从机器人装配作业平台[J]. 机器人, 2002, 24(1): 81-85..
GAO Li-fu, WANG Ding-cheng, TANG Yi, ZHANG Jian-jun, GE Yun-jian, SONG Ning . A MASTER-SLAVE ROBOT SYSTEM WITH FORCE AND TOUCH TELEPRESENCE. ROBOT, 2002, 24(1): 81-85..
Abstract：This paper introduces a master-slave robot system with force and touch telepresence. The system is composed of a master robot and a slave robot which is a modified PUMA robot, realizes force and touch telepresence, identifies and grasps work-pieces automatically. In order to offer a open robot assembling workbench for integrating different kinds of sensors, we have reconstructed PUMA robot. This reconstruction is going to provide an open I/O for users.