抄録
The force-feedback from the slave robot to the master robot is effective in a master-slave system. However, when the slave robot is not contact with its surroundings, we can't adopt the conventional force-feedback master-slave system, because there is no force acting on the slave robot. Thus, a method using a virtual force-feedback was suggested. Though the virtual force was calculated by an impedance model, it included some oscillation, and this might raise a system unbalance. In this study, the authors improved the design method of the virtual force-feedback master-slave system and introduced the disturbance observer from the viewpoint of the system stability and maneuverability.
