1A1-G16 Different Configuration Master-Slave Robot Arms System by Two Industrial Robots

Abstract

In this paper, we propose a method to construct different configuration master-slave robot arms system by two commercial industrial robot arms. This system is controlled as unilateral in case a slave arm is not interfered with its environment ; however, it is controlled as bilateral in case of interference. The dynamical characteristics of proposed system and a singular point avoidance procedure necessary for the master arm operation are also discussed.