一种具有力觉触觉临场感的主从机器人装配作业平台

A MASTER-SLAVE ROBOT SYSTEM WITH FORCE AND TOUCH TELEPRESENCE

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．

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.