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
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;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.506883
