3リンク双腕水中ロボット用マスタースレーブシミュレータの開発

抄録

Master slave system is a vital technique for controlling robot motions. An intuitive master controller enables precise and easy control of robot, especially for underwater robotics applications. We are developing a master slave system for a 3-link dual-arm underwater robot. The design of this master slave system is simple and intuitive. Since to correctly operate the underwater robot is difficult, it needs operator training. In this paper, we discuss a master-slave simulator for 3-link dual-arm underwater robot.