【摘要】 针对遥操作机器人主控制器工作空间过小和主从手工作空间不匹配的问题，提出一种区域覆盖思路。将主控制器工作空间与从机械手工作空间一一对应的映射关系转换成主手工作空间多次区域映射的关系，通过多次建立主从手的连接，达到区域覆盖的目的。同时为了更好地控制从机械手末端的姿态，设计一种相对运动姿态控制方法，将传递给机械手的绝对姿态坐标替换成姿态运动信息，以达到相对姿态控制目的。最后，进行仿真分析和试验验证。结果表明：该方法能够实现工作空间完美覆盖，主手能够有效地控制从手运动。更多还原

【Abstract】 In order to solve the problem that the workspace of the master controller is too tiny and the workspace of the master is not matched with and slave hands, a method of area coverage was proposed.The one-to-one mapping relationship between master controller workspace and manipulator workspace was transformed into multiple region mapping relationship of master hand workspace, and the purpose of region coverage was achieved by establishing the connection between master and slave hands for many times.At the same time, in order to better control the posture of the manipulator, a relative motion posture control method was designed, which replaced the absolute posture coordinates transmitted to the manipulator with posture motion information, so as to achieve the purpose of relative posture control.The results show that the proposed method can achieve perfect coverage of the workspace, and the master hand can control the slave hand motion effectively.更多还原