Redundancy Control of a Master-Slave Manipulator with a Redundant Slave Arm.
نویسندگان
چکیده
منابع مشابه
Master-Slave Teleoperation Method of Redundant Manipulator
Abstract. This paper introduces a master-slave control method of teleoperating a redundant manipulator with double handles. The master handles send motion commands in the form of increments. The mapping module transforms the commands into homogeneous matrices. And the slave manipulator links discrete motion commands in the mode of PVAT automatically, by inverse kinematics and fifth-order polyno...
متن کامل������������������������� � Master-Slave ������
近些年来,随着计算机的计算能力和存储能力的飞速发展,科学计算的规模越来越大,在气象、生物技术、 油藏模拟、核技术等领域,用于计算的网格已达到百万、千万乃至数十亿,计算的数据结果也已达到 GB 乃至 TB 大小。而和计算、存储技术的飞速发展相比,由于受材料、电子等工艺的限制,计算机的显示尺寸的发展相对滞 后。如何能够快速、准确的表现海量数据已经成为一个亟需解决的问题。它不仅包括如何以更大的屏幕来显示数 据,还包括如何以更快的速度来处理数据。 使用并行计算技术的大屏幕显示是解决上述问题一个很好的途径。采用多个显示设备取代原来的单个显示设 备使得显示屏幕增大为相应的倍数;各个显示设备由单独的计算机进行驱动,计算任务的分担使得显示速度也大 大提高。 除了在科学计算方面的应用外,大屏幕显示作为一种“半沉浸式”的虚拟环境,在虚拟战场、视频会议、公 共场合演示等方面也有着广泛的应用。 大屏幕显示技...
متن کاملDevelopment of Multi-D.O.F. Master-Slave Arm with Bilateral Impedance Control for Telexistence
We developed the robotic arm for a master-slave system to support “mutual telexistence,” which realizes close physical communication with other people using gestures and remote dexterous manipulation tasks. In this paper, we describe the specifications of the experimental setup of the master-slave arm for demonstration of the feasibility of the mutual telexistence concept. We developed the mast...
متن کاملA Master-Slave DSP Board for Digital Control
This paper presents an integrated environment for development of real-time digital control systems. It constitutes a pilot project in the real-time aspect using Digital Signal Processor (DSP). The hardware platform is composed by a Master-Slave DSP board and the software platform has a friendly user interface. It is intended to generate a basic real-time tool library that will allow others rese...
متن کاملMaster/Slave Speculative Parallelization with Distilled Programs
Speculative multithreading holds the potential to substantially improve the execution performance of sequential programs by leveraging the resources of multiple execution contexts (e.g., processors or threads). For unstructured non-numeric programs, the three key challenges of parallelization are (1) predicting the sequence of tasks (i.e., groups of instructions) that corresponds to the correct...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 1995
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.13.574