油圧式力覚ディスプレイの開発

1自由度マスタ・スレーブ制御系への適用

抄録

In this study, we deal with a bilateral master-slave system for tele-robotics composed of electro-hydraulic servo-systems. In a teleoperated master-slave system, the master has to play two roles, firstly as a reference input device to the slave and secondly as a force display device. In order to produce a force display composed of hydraulic servo-systems, we must solve a problem called back-drivability, in which the actuator in a hydraulic servo-system cannot be operated freely by manual means. As a practical solution to this problem, we propose a driving method for the actuator that uses a force sensor attached to the actuator. Furthermore, as an application of the proposed force display, we construct a bilateral master-slave system composed of electro-hydraulic servo-systems. Experimental results of the manipulate on of motion by this system are presented and, consequently, the validity of the hydraulic force-display was confirmed.