人与机器人实现动态耦合的重要接口

An Important Man-machine Interface for Establishing Dynamical Coupling between Operator and Telerobt

介绍了最近研制的由两个 RRPRRR型机械臂构成的具有 1 2个自由度的主机械手的基本结构 ,用之构成了一套遥操作实验系统 ,对其性能进行了测试。在实验的基础上 ,对这种主机械手作为一种重要的人机接口的应用范围进行了探讨。

Master arm is a key device for master slave manipulation (MSM).Its nature is a limiting factor for broadening the application of MSM control technology. Especially,the master arm of telerobot is the device not only to measure the human operator's arm motion but also to telepresence the forces the slave arm will receive from the environments during tasks, and is an important man-machine interface for establishing a dynamical coupling between operator and telerobot. In this paper, the manufactured dual master arm with two RRPRRR style 12DOF are first introduced. Secondly, a MSM remote control testing system and the results of experiments are explained. Finally, the fundamental application of the master arm are discussed.