1P1-B17 An Assisting Method of Master-Slave Manipulator with Elastic Vibration based on Operation Property

Abstract

This paper presents an assist control for positioning task using flexible master-slave system. The proposed assist control method is a unilateral control consisting of variable impedance control in the master side and direct acceleration feedback of the end-effector of slave manipulator in the slave side. The impedance parameters are changed on the basis of operation property. The effectiveness of the proposed assist control is verified by experiments.