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发明授权
CN101863028B 一种带有距离传感器的遥操作双边控制模拟装置 有权

一种带有距离传感器的遥操作双边控制模拟装置
摘要：
本发明涉及一种带有距离传感器的遥操作双边控制模拟装置，属于机器人技术领域。包括基座、四组转动机构、第一主端操作臂、第二主端操作臂、第一从端操作臂、第二从端操作臂和两个距离传感器。四组转动机构固定在基座上。第一主端操作臂和第二主端操作臂分别固定在基座一侧两组转动机构中的连接件上，第一从端操作臂和第二从端操作臂分别固定在基座另一侧两组转动机构中的连接件上。两个距离传感器分别固定在第一从端操作臂和第二从端操作臂上。本发明的模拟装置，有效克服了时延对双边控制系统带来的影响，可以进行双臂协调双边控制实验。
摘要（英）：

The invention relates to a teleoperation type bilateral control simulator with range sensors, which belongs to the technical field of the robot. The simulator comprises a base, four rotating mechanisms, a first drive terminal operating arm, a second drive terminal operating arm, a first driven terminal operating arm, a second driven terminal operating arm and two range sensors. The four rotating mechanisms are fixed on the base, the first drive terminal operating arm and the second drive terminal operating arm are respectively fixed on connecting components in two rotating mechanisms on one side of the base, the first driven terminal operating arm and the second driven terminal operating arm are respectively fixed on connecting components in two rotating mechanisms on the other side of the base, and the two range sensors are respectively fixed on the first driven terminal operating arm and the second driven terminal operating arm. The simulator provided by the invention effectively overcomes the influence of time delay on the bilateral control system, and can be applied in the experiment for coordination of the bilateral control with double arms.

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