Configuration design of a kind of new typed double parallel main manipulator;
一种新型双并联主操作手构型设计
A Language(Space Robot Control Language)and its structure are proposed,which is the software basefor three control modes of space robot:teleoperation,autonomous operation,and shared operation.
空间机器人控制语言是实现空间机器人三种控制方式:遥控操作,自主操作和协同操作的软件基础,本文描述了该语言的基本结构,对于自主方式,给出了编程示例;对于遥控方式,运用程序辅助的方法,解决了操作员单独进行主/从操作时难以解决的问题。
Force feedback technique in master-slave teleoperation is one of the most important research fields in medical robot, and haptic master manipulator and tactile slave manipulator are necessary parts of the master-slave force feedback control system.
本文针对河北省自然科学基金资助项目——《医疗机器人主操作臂动力学特性及其数字化操作技术研究》研究课题,以课题组开发的主操作手模型为核心,提出主从控制系统总体设计方案和控制策略,开发主从医疗机器人控制系统仿真平台,并构建单自由的主从控制实验系统。
In this thesis, the design plan of master manipulator of medical robot based on the theory of multi-body dynamics is put forward, the structure of master manipulator is designed, the model of kinematics and dynamics is constructed, and the control system software of master and slave manipulators of medical robot is developed.
本论文提出了基于多体动力学理论的医疗机器人主操作臂设计方案,并对主操作臂进行了结构设计,建立了主操作臂的运动学模型和动力学模型,开发了医疗机器人主从操作臂的控制系统软件。