空间遥操作机器人力反馈实验系统的研究与实现

刘国栋; 连广宇; 孙增圻

刘国栋, 连广宇, 孙增圻. 空间遥操作机器人力反馈实验系统的研究与实现[J]. 机器人, 2001, 23(5): 411-415.

引用本文:

刘国栋, 连广宇, 孙增圻. 空间遥操作机器人力反馈实验系统的研究与实现[J]. 机器人, 2001, 23(5): 411-415.

LIU Guo-dong, LIAN Guang-yu, SUN Zeng-qi. STUDY AND IMPLEMENTATION OF FORCE FEEDBACKEXPERIMENT SYSTEM FOR SPACETELEOPERATED ROBOT[J]. ROBOT, 2001, 23(5): 411-415.

Citation:

LIU Guo-dong, LIAN Guang-yu, SUN Zeng-qi. STUDY AND IMPLEMENTATION OF FORCE FEEDBACKEXPERIMENT SYSTEM FOR SPACETELEOPERATED ROBOT[J]. ROBOT, 2001, 23(5): 411-415.

空间遥操作机器人力反馈实验系统的研究与实现

STUDY AND IMPLEMENTATION OF FORCE FEEDBACKEXPERIMENT SYSTEM FOR SPACETELEOPERATED ROBOT

摘要

摘要: 本文讨论了在空间遥操作机器人系统中实现力反馈的基本结构及控制方案，并基于虚功原理给出了实现手控器腕关节力反馈的具体算法．

Abstract: This paper discusses the control method and basic structure for the force feedback system for space teleopearated robot. A concrete algorithm is proposed based on the virtual word principle, which could be used for implementing the force feedback of wrist joint for master manipulator.

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