力順送型バイラテラル制御による空気圧マニピュレータの遠隔操縦

抄録

In this paper, the effectiveness of the Force-Projecting bilateral control for pneumatic manipulators is presented. In recent years, pneumatic manipulators are actively developed to take advantages of lightweight and high power, high backdrivability, environmental resistance, and so on. However, conventional bilateral control methods are not suitable for pneumatic manipulators with response delays and low positioning rigidity. This study focuses the Force-Projecting bilateral control method to solve this issue, which is originally used for a force-amplifying manipulator. Numerical analysis and experimental verification were performed using 1-DOF master-follower system. Compared to the conventional Force-Reflecting type, the proposed Force-Projecting type was shown to be clearly superior in terms of both positioning rigidity and force control stability.