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Received:February 24, 2016 Revised:March 22, 2016
Received:February 24, 2016 Revised:March 22, 2016
中文摘要: 随着串联机器人技术的发展，通过计算机编程实现的多种人机交互的机器人控制方法成为一个新的研究热点.对触觉输入输出设备、六自由度串联机器人的物理结构、通讯方式及编程接口进行研究，使用Geomagic公司的触觉输入输出设备Geomagic Touch为人机交互信息采集设备，利用设备配套的OpenHaptics编程套件，通过UR10机器人及其控制脚本URScript，构建了一个六自由度串联机器人的实时控制系统.
Abstract:With the development of the technology of serial robots, multiple human-computer interaction control methods through computer programming is becoming a new research hotspots. This article conducts research on physical mechanism, communication and programming interface of haptic input/output device and 6-degrees of freedom serial robots, using Geomagic Touch haptic input/output device producing by Geomagic cooperation. By using OpenHaptics programming interface and UR10 robots to control script language, we construct a real-time control system of 6-degrees of freedom serial robots.
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基金项目:国家自然科学基金（11302222）
| Author Name | Affiliation |
| LI Da-Wei | Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China |
| Author Name | Affiliation |
| LI Da-Wei | Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China |
引用文本：
李大为.基于OpenHaptics的六自由度串联机器人实时控制.计算机系统应用,2016,25(11):221-226
LI Da-Wei.Real-Time Control of 6-Degrees of Freedom Serial Robots Based on OpenHaptics.COMPUTER SYSTEMS APPLICATIONS,2016,25(11):221-226
李大为.基于OpenHaptics的六自由度串联机器人实时控制.计算机系统应用,2016,25(11):221-226
LI Da-Wei.Real-Time Control of 6-Degrees of Freedom Serial Robots Based on OpenHaptics.COMPUTER SYSTEMS APPLICATIONS,2016,25(11):221-226
