ジョイスティックによるワイヤを利用した3台の産業用マニピュレータの協調制御

抄録

A joystick control algorithm for a cooperative object positioning system with three manipulators has been developed. The object is suspended by six wires each two of which are fixed to three manipulator tips respectively and is controlled by the three manipulator motions. Since the system has twelve kinematic redundancy, a way to use them to keep the minimum wire tensions and also to avoid the concentration of the load on a single wire is proposed, and the effectiveness of the system has been verified by some fundamental experiments..