2P1-A07 Assisting Method Using Vibration model in Master Slave System with Flexible Mechanism

Abstract

This paper presents an assisting method for positioning task using flexible master-slave system. The proposed assisting method is unilateral control consisting of input shaping compensator in the master side and direct acceleration feedback of the end-effecter of slave manipulator in the slave side. As the input shaping compensator is notch-filter is used, which removes vibration frequency from operating force signal. The effectiveness of the proposed method is verified from standpoints of maneuverability and operator's feeling. The former is based on the evaluation of the time responses and the success time, and the latter the subjective evaluation of an operator (Semantic Differential Method and Principal Component Analysis)