抄録
In this study, the following was performed as one step for realization of the proposed system. The proposed system is the concept of the rubble removal system which uses the master-slave system and the power assistant system. The master-tube which is a multiple joint type of master system was adopted as the master system required for a master-slave system in the rubble removal system. And we manufactured the master-tube using FST, and performed FIR filtering and the calibration of zero points of sensors. We conducted the experiment of the master-slave control of the existing dual manipulator using the manufactured master-tube, and verified the performance and validity of the master-tube.
