Study On Driving Control About The Slave Side Of Master/Slave Remote Machine Hand

As the fast development of science and technology, human explore more and more field in nature. Generic welding equipment and craftwork has became useless in extremity envionment such as the assemblage in space, the project in ocean or the repair work in nuclear station. Because human can not survive in such condition the weld project could be only done by robot. As far as current robot technology's low level , it is not realistically to complete the project all by robot itself. Human must join in the system and the concept of the remote control robot system is come out.The concept is that people control the weld equipment and supervise the work process in a safety area to complete the weld project. Master /slave remote robot has became an idispensability equipment in such domain.The robot is also used in some dangerous or poison industry condition.To fit the extremity envionment, we designed a master/slave system. This system is mainly composed by three part, that is the master system, the slave system and the control system (include the connect part between them). The slave computer is the heart of the slave system, it mainly used in communicate with the master system and the control of the slave hand. Slave hand's joints are drived by high capability servo-motor which response rapidly and easy control. The motor gives the hand a good impetus resource. It's work mode is that operator control the master hand and the master computer translates the information to slave hand by cable then the slave hand works under the specifically condition accord with the command it received.At the same time the slave hand returns its state to operator to convenience the oprator make the right decision.Firstly the thesis analysis the hand's machine configuration to establish slave hand's reference frame which is the basement to deduct kinematics equation and anti- kinematics equation. The calculate of the machine hand's kinematics equation is to solve two classificatory problem, the one is when the hand's reference frame is...