一种具有力觉触觉临场感的主从机器人装配作业平台

详细信息

A MASTER-SLAVE ROBOT SYSTEM WITH FORCE AND TOUCH TELEPRESENCE

1.
Department of Automation, University of Science and Technology of Anhui Hefei
2.
Intelligent Robot Lab, Institute of Intelligent, Chinese Academy of Sciences Anhui, 230031

摘要: 本文介绍了一种具有力觉触觉临场感的主从机器人系统．该系统以改造后的PUMA手作为从手，和主手一起构成异构主从手，实现了力觉触觉临场感以及对工件的自动识别和抓取等功能，其中对PUMA手的改造以开放性作为改造的主要目的，以期能为多种传感器的集成提供一个开放式的机器人装配作业平台．
- 力觉临场感 /
- 触觉临场感 /
- 主从机器人 /
- PUMA
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.
- force telepresence /
- touch telepresence /
- master-slave robot /
- PUMA

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