言語介在型マスタ・スレ-ブ・マニピュレ-タシステム

概要

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A master-slave manipulator (MSM) is one of the most important teleoperators for performing tasks in hazardous environments where human beings cannot enter. However the MSM is not easy to operate, even for trained persons.In this paper, the authors propose the Language Based Master-Slave Manipulator (LBMSM) system, which introduces a description system of control schemes into the MSM system. The description system is implimented as a master-slave command language and the prototype LBMSM system equipped with the language is constructed.The LBMSM system has the following features not possessed by conventional systems. 1) It can change kinematic relations between the master and slave manipulator by this command language. 2) It can reduce a complex task to a simple one by imposing motion constraints. The motion constraints are specified by the command language. 3) It can call a program control mode during master-slave control mode. The emphasis of this LBMSM system is on the uniformity of scheme description by the command language.The decrease in conventional difficulties gained by use of the LBMSM system is demonstrated by experiments using the prototype system.
公益社団法人計測自動制御学会の論文