Interactive-motion control of modular reconfigurable manipulators

被引：0
|
作者：
Chen, WH [1 ]
Yang, GL [1 ]
Ho, EHL [1 ]
Chen, IM [1 ]
机构：
[1] Singapore Inst Mfg Technol, Singapore 638075, Singapore
来源：
IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 | 2003年
关键词：
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
A joystick-based interactive motion control approach is proposed for modular reconfigurable manipulators. Based on the product-of-exponentials (POE) formula, the velocity models as well as the incremental displacement models have been formulated for both serial manipulators (with arbitrary configurations and DOFs) and a class of three-legged parallel manipulators. As a result, two different control modes, i.e., the velocity control mode and the incremental displacement control mode, have been developed. A user-friendly GUI has also been developed which can-display the joystick input, the actual joint angles, and the end-effector pose simultaneously. The effectiveness of this approach has been demonstrated by a 6-DOF serial modular robot and a 6-DOF 3RPRS parallel robot.
引用
收藏
页码：1620 / 1625
页数：6
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