2A1-G08 マスタスレーブマニピュレータによる柔軟物搬送の操作支援制御(フレキシブルロボット・メカニズム)

概要

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This paper presents an assist control method for flexible parts transportation using a master slave manipulator. The proposed assist control consists of notch filters in the master side and shear force feedback in the slave side. The resonance frequency components of a flexible part are removed from operating force signal by the notch filters, by which the excitation of the vibration of the flexible part is reduced. The vibration of the flexible part is suppressed by the shear force feedback. The shear force of the flexible part is measured with the force sensor attached at the end-effector. The effectiveness of the proposed method is verified from standpoints of maneuverability and operator's feeling. The former is based on the evaluation of the time responses and the success time of the task. The latter is based on the subjective evaluation of an operator using Semantic Differential Method and Principal Component Analysis.
一般社団法人日本機械学会の論文
2008-06-06