インピーダンス制御型マスタ・スレーブ・システム (II) : 操作感の変更と操作能力の拡張

概要

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This research is concerned with master slave manipulation. A new master slave system in tele-existence mode, i.e., the basic part of impedance controlled master slave system, has been presented in the part I. In the part II, the system is expanded so that it controls both impedance models of the environment and the manipulators, and modifies the force sensation of the master and slave manipulators as if an operator were in the different physical environment, and the impedances of the master and slave manipulators are determined by using similarity transformation in physical modelling when the manipulators have different scales, force and/or velocity conditions. These methods are verified in the experiments with the two degrees of freedom direct drive manipulator.
日本ロボット学会,安川電機製作所,機械技術研究所の論文