Abstract
A robot manipulator in fields has to be remotely controlled when doing difficult works. We have already proposed a remote controller of the Master-Slave system with mobility and good operability, Armrest Joystick. It consists of a 3DOF position controller, a 3DOF posture controller and a gripper controller. In this paper, we develop the 3DOF posture controller that consists of 2DOF spherical parallel link mechanism and 1DOF mechanism at the tip. It achieves a wide movable range, smooth and light operation, and a force feedback. And we confirm the effectiveness and operability of this controller by some experiments.
