Kinematic Control of a Robotic Manipulator with a Unilateral Manual Controller.

摘要

This study describes a teleoperator system using a six-degree-of-freedom unilateral manual controller and a robotic manipulator. The system represents a generalization of a master-slave teleoperator which is capable of performing remote tasks under direct human control. A kinematic analysis is used for positioning the manipulator end-effector. The kinematic analysis of the manipulator is performed by modeling an equivalent single loop spatial mechanism. The system software has been designed to allow the operator a significant range of choices in scaling, orientation, and resolution. The total system now operates in the laboratory at a sampling rate of 15 Hz. Given a more modern high speed computer and a more compatible language, the sampling rate is estimated to be feasible at 100 Hz. (ERA citation 09:031379)