異構造マスタスレーブマニピュレータの作業性とその評価実験

概要

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Recently, a lot of research on master-slave manipulators with different configurations (MSM - DC) has been conducted, but the meneuverability of such systems has not been discussed enough. Thus, an MSM-DC using an orthogonal type master arm has been developed and experiments are performed to evaluate the maneuverability of the MSM-DC. The results are as follows : The MSM-DC can be operated as easily as a conventional MSM using a replica master arm. The slave arm position and the reflected force at the master arm are correctly generated using coordinate transformations between the slave and the master arms. The master-slave mode is suitable to perform a fine task compared with the joystick mode. The function of changing the transformation point, which is newly proposed, from the master arm to the slave arm is effective to carry out a task which has a revolving point. Additionally, quantitative evaluation for the maneuverability of an MSM is investigated using a pattern trace.
社団法人日本ロボット学会の論文
1994-01-15