Abstract
This paper deals with a 6-axis master-slave manipulator system with different kinematics which is considered to have many desirable features for remote manipulation. However, the increased amount of computation for transformation between the two joint coordinate frames requires a long update interval. And the disturbances of the reduction gears cause some undesirable effects. The system in this paper proposes some methods improving the problems; (1) Joints of the master manipulator are arranged along the Cartesian coordinate frame and force-controlled using a force-torque sensor in the handle. (2) The attitude of the hands are described by quaternions which save computational time and communication data. (3) A dual CPU system connected by a serial communication line is used. The system employing these methods realizes smooth operation and precise force feedback.
