インピーダンス制御型マスタ・スレーブ・システム (I)

―基本原理と伝送遅れへの応用―

抄録

This research is concerned with master slave manipulation. A new master slave system in teleexistence mode, i. e., impedance controlled master slave system, is presented. Impedance control of the manipulators is applied to this system. The system regulates the impedances of the master and the slave so that they coincide, and it generates the impedance models of the environment. Four basic control methods are proposed as the extension of conventional bilateral systems and it is shown that most of them can be transformed to each other by calculating force information even with less force information. They are also applied to the system with time delay. These methods are verified in the experiments with a two degrees of freedom direct drive manipulator.