実・仮想複合力覚提示型マスタ・スレーブシステムの設計 -仮想力のみのフィードバック系-

抄録

The force-feedback in master-slave system is effective to get comfortable maneuverability, and has often been introduced in various applications. In conventional systems, when the slave robot is in free space, no reflective force from the slave robot's environment is returned to the operator, because there is no contact between the slave robot and the environment. Contrary to the conventional method, the authors proposed a method to present the kinesthetic sense as a virtual force even though there is no con-tact between the slave robot and the environment. The virtual force reflects the slave robot's situation such as position and velocity, and the reflection force helps the operator to maneuver the slave robot in the di冊cult environment with the favorite and/or dangerous regions. Because the intervenient dynamic model governs the maneuverability and the stability of the system, a designing method considering the intervenient dynamic model has been required. However, no practical designing method has not yet been proposed for the virtual force-feedback system. This paper proposed a method for designing a dynamic model of the master-slave system with virtual force-feedback. The effectiveness of the proposed method was confirmed through some practical experiments.