抄録
A new bilateral master-slave control system for the large-scale manipulator is proposed. The aim of the system is to cope with its large payload capability and achieve the dexterity to accomplish its assembling and the deburring tasks. To achieve this goal, three new control methods were introduced, i.e. the new bilateral servomechanism combined with the symmetric type and the force reflection type, the variable compliance control and the disturbance force compensation. In the first report, the preceding test results for the simple single joint-model were described. The promising results of those preceding tests motivated the authors to fabricate a 6-DOF prototype manipulator. In this paper, the results from the working property evaluation of this prototype model are reported.
