This article focuses mainly on the parallel manipulator controller design and application of virtual reality technology. Compared to traditional in-line body of parallel mechanism with high precision, high rigidity, width bandwidth and able to load characteristics, such as, in recent years has gradually been applied to robots. Space vector view derivation of parallel mechanism kinematics and inverse kinematics, and speed through the program find the Jacobian matrix, and find the location singular points. Virtual reality (VR) is the main purpose of using the man-machine interface and the interaction between robots. Through human intelligence and sensing device can control in real time to complete complex, heavy or high risk job robot.
關聯:
Journal of Internet Technology, v.15 n.7, pp.1169-1177
