The Study On Key Research Of 7 DOF Dataarm Of Teleoperation Robot Based Internet

Man-machine interactive Device, Orientating to Virtual Reality and Teleoperation have a nice application in remote control robot, Telepresence Surgery and virtual machine assembly, and become a research hotspot. In this thesis, we elaborate how we designed and developed a new type of wearable 7 DOF dataarm facing joints of human arm--BUAA-III dataarm, and used it in Teleoperation system AGENT based. The kinematics software ADAMS was used in designing of spatial mechanism. Based on the theory of motion stabilization of four-bar linkage and dimensional linkage, a new type of mechatronic exoskeleton dataarm with 7 DOF is developed. The principle and mathematical models are addressed as well as the control methods. The control system ARM Based Controller was designed. Then we made two experiments using BUAA-III dataarm to control Virtual PUMA262 robot. The experiments proved them efficacious and reliable.