Fine manipulation simulation of GAMMA300 7-DOF robot based on virtual fixture

As usual, controlling the manipulator with the automatic control mode can't meet the flexible task requirements under the environment which requires high flexibility, and the conventional control methods with hand controller are difficult to meet the operating precision. So combined with the virtual fixture characteristics of limited motion and guidance path, this page proposes the control strategy and analyzes the control algorithm with the assistant of virtual fixture based on GAMMA300 7-DOF robot. And the virtual fixture auxiliary control strategy algorithm is proved to being correct and effective based on the fine manipulation simulation with OSG, which has important significance to enhance the flexibility, human-computer interaction and operation precision for redundant manipulator to perform fine manipulation tasks.