マスタスレーブ・マニピュレータのインピーダンス制御の一方法

抄録

A control method of an anthropomorphic redundant master-slave manipulation system is proposed to be applied to advanced human robot systems, e.g., tele-existence.
The impedance control method can be clasified into torque-control type and motion-control type. It is proved by both theoreticaly and experimentally that the motion-control type is suitable for the impedance control of manipulators with reduction gear mechanism. Next control methods of redundant unilateral/bilateral manipulators are proposed and their stabilities are discussed. Efficiency of the proposed methods are demonstrated using a hardware robot system.