Affiliation:
1. National University of Defense Technology
Abstract
Robotic remote operation has become a new research hotspot in many fields, experiments on remote operated manipulator doing surgeries for the patients have been carried out in medical science. This paper takes the manipulator of four degrees of freedom capturing the target object as the study background and comes up with a new method of remote control for a robotic arm based on an electromagnetic tracking system which serves as the signal acquisition device. Thus the arm movement can be the input of the robot arm control loop and guides the motion of the robot arm. Firstly, the paper builds the kinematics model of the experimental robotic arm. Secondly, based on the analysis of human arm structure, the paper proposes an appropriate experimental program. Finally, experiments on remote operation have been carried out, the results of which prove the effectiveness of the method above.
Publisher
Trans Tech Publications, Ltd.
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