Workspace Coverage Control Strategy of Master-Slave Teleoperation Manipulator
In order to solve the problem that the workspace of the master controller is too tiny and the workspace of the master is not matched with and slave hands,a method of area coverage was proposed.The one-to-one mapping relationship between master con-troller workspace and manipulator workspace was transformed into multiple region mapping relationship of master hand workspace,and the purpose of region coverage was achieved by establishing the connection between master and slave hands for many times.At the same time,in order to better control the posture of the manipulator,a relative motion posture control method was designed,which replaced the absolute posture coordinates transmitted to the manipulator with posture motion information,so as to achieve the purpose of relative pos-ture control.The results show that the proposed method can achieve perfect coverage of the workspace,and the master hand can control the slave hand motion effectively.
万方数据
维普
