力と運動のスケーリングを考慮したレマニピュレータのTask-oriented制御

抄録

This paper proposes an alternative control algorithm for a scaled telemanipulation system based on a task-oriented virtual tool. In the algorithm a telemanipulator is controlled so that it has aa virtual tool dynamics which is designed appropriately for a given task. The dynamics assists a human operator as a tool and the operator can execute a task easily with the tool. In addition, the motion and the force relation between the master and the slave can be specified freely by using two scaling factors; a motion scaling factor and a force scaling factor. The stability of the resultant system is analyzed based on the passivity of the system and the total stability is guaranteed for a human operator and a passive environment with unknown dynamics. The proposed control algorithm is experimentally applied to a telemanipulator. The experimental results illustrate the validity of the algorithm.