大型バイラテラルマニピュレータの研究

(第１報　コンセプトの立案と単軸モデル実験)

抄録

A new bilateral master-slave control system for large-scale manipulators is proposed. The aim of the system is to cope with the large or heavy payloads and to accomplish assembling and deburring tasks accurately. To achieve this, three new control methods are introduced :, the new bilateral servomechanism combined with symmetric and force reflection types, a variable compliance control and disturbance force compensation. The effectiveness of these methods is confirmed through tests using a simple single joint model. In this paper, outlines of proposed control methods are presented and the results of the tests are discussed.