Study on the Control of 6-DOF Manipulators System with Force Feedback

摘要：

Tele-operation consists of motion control and force control, of which the key is tele-presence. This paper presents the components of interactive 6-DOF tele-operation system, displacement and force servo control principle. Bilateral servo control is the core of interaction technology which provides the operator with force tele-presence and is the important foundation of the operators decision to complete the tele-operation tasks successfully. The slave manipulators free motion and limited motion experiments show that this system has realized the accurate displacement control and force telepresence. There is a satisfactory interaction between the master and slave manipulators.

作者: Zhuxin Zhang Tiehua Chen

作者单位: Changchun Institute of Technology, Changchun, Jilin 130012, China

会议类型: 国际会议

会议名称: International Conference on Intelligent Computation Technology and Automation(2008 智能计算技术与自动化国际会议 ICICTA 2008)

会议地点: 长沙

会议语种:英文

页码: 498-502

在线出版日期: 2008-10-20（万方平台首次上网日期，不代表论文的发表时间）