A pantograph linkage parallel platform master hand controller for force-reflection
作者： G.L. Long , C.L. Collins
DOI: 10.1109/ROBOT.1992.220308
关键词:
摘要: The authors discuss the kinematics of a serial/parallel six degree-of-freedom generalized hand controller for teleoperation. A description device is presented with equations needed control remote manipulator. pantograph linkages extend workspace traditional platform designs, while parallel structure provides force regulation at that well suited force-feedback to teleoperator. teleoperator described will be part larger telerobotics system comprising radio-controlled robotic arm module appropriate end-effectors and general-purpose supervisory controlled system. planned handling toxic solid liquid debris. >
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