1A2-D09 力制御を用いた双腕ロボットのマスタ・スレーブ制御

概要

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In this paper, we propose Master-slave control of Dual-Arm Robot. The purpose of the study is the improvement of the operational performance of the robot by the master-slave system. The person gives the robot the motion trajectory if this system is used and it is possible to operate manual. This system is used as real-time remote control of the robot by the space where the person cannot work directly. It is generally difficult to do advanced operation like the assembly operation with the master-slave system. Then, the operation is simplified by using the system that adds the force control and advanced operation is achieved. Concretely, the robot does the manipulation aid of the crash avoidance by the automatic operation. The first of goal as assembly work is tightening up nut to bolt.
一般社団法人日本機械学会の論文
2009-05-25