Impedance controlled master slave manipulation system Part II: Modification of force senation and extension of operation capability.:Modification of Force Sensation and Extension of Operation Capability

概要

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This research is concerned with master slave manipulation. A new master slave system in teleexistence 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.
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