抄録
Our ideal goal of the telexistence master-slave system is to operate various types of slave robot by one universal master system at will. If a master system was designed universally, singular configurations of a slave robot will be included in motion space. On the other hand, the intervening impedance appears in master-slave system. In the past, many researchers tried to remove the effect of the intervening impedance because it impairs operational feeling. Now, we try to make effective use of it. Then we proposed an avoidance method of singular configuration in a master-slave system. We maintained the parameters of intervening impedance using the manipulability ellipsoid. As a result, proposed method made the avoidance of singular configurations possible.
