A pantograph linkage parallel platform master hand controller for force-reflection

摘要

The authors discuss the kinematics of a serial/parallel six degree-of-freedom generalized hand controller for teleoperation. A description of the device is presented with equations needed for control of a remote manipulator. The pantograph linkages extend the workspace of traditional platform designs, while the parallel structure provides force regulation at the platform that is well suited for force-feedback to a teleoperator. The generalized teleoperator controller described will be part of a larger telerobotics system comprising a radio-controlled robotic arm module with appropriate end-effectors and a general-purpose supervisory controlled system. The robotic system is planned for remote handling of toxic solid and liquid debris.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>