動作範囲に制限のあるマスタアームによる直感的遠隔操縦法の検討

第 3 報　新たなマスタ・スレーブ間の速度マッピング手法についての検証

抄録

We proposed a new teleoperation control method by using a master control device with small working space. The proposed method sets the slave velocity based on the master velocity. Changing the slave velocity by the master velocity, the operator can control the slave arm freely and intuitively using a small working space master device. In this paper, we propose a new scale conversion method that are expected to be better than the previously proposed. The new scale conversion methods determine the position scale directly based on the master velocity. We tested the new scale conversion method and the result of experiment is shown.