マスターアームを要しないマニピュレータのマスタースレーブ型操作

抄録

We propose new master-slave system using VR(Virtual Reality) instead of master-slave manipulator. In this system, operator use input device consisted of electric gripper which is the same shape as end-effector of manipulator and attached VR tracker and force sensors. Operator inputs target position and quaternion of end-effector by moving input device and holding force grasping input device. Then the system calculates joint angles of 6-DoF manipulator solving inverting kinematics and sends command to controller. With our proposed system, subjects were succeeded to grasp peg and insert into hole. But they also had many errors of inserting. Most of causes of errors are failure of peg and hole positioning or posture tilt of peg. In the future, we will improve this system developing method of correcting position and posture and posture inputted by user depending on tasks that the user wants to perform.