DocumentCode
297016
Title
Displacement analysis of a six-degree-of-freedom hybrid hand controller
Author
Zanganeh, Kourosh E. ; Angeles, Jorge
Author_Institution
Inst. for Aerosp. Studies, Toronto Univ., Ont., Canada
Volume
2
fYear
1996
fDate
22-28 Apr 1996
Firstpage
1281
Abstract
The subject of this paper is the kinematic analysis of a hand controller at the displacement level. The device is a six degree-of-freedom hybrid mechanism comprising two modules, each with three degrees of freedom. Based on the proposed kinematic model of the mechanism, we derive the necessary relations between the Cartesian coordinates of the end-effector and the joint variables
Keywords
control equipment; kinematics; telecontrol; 6-DOF hybrid hand controller; Cartesian coordinates; displacement analysis; end-effector; kinematics; teleoperation; Aerospace control; Couplings; Displacement control; Foot; Joining processes; Kinematics; Mechanical engineering; Wrist;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location
Minneapolis, MN
ISSN
1050-4729
Print_ISBN
0-7803-2988-0
Type
conf
DOI
10.1109/ROBOT.1996.506883
Filename
506883
Link To Document