Abstract
Authors propose a method to perform remote controlled assembly by operations with a small number of degrees of freedom (DOFs). A system is developed to perform remote controlled 6DOF assembly by 1DOF operations. A method is described that complements difference between DOFs of user operation and those of manipulator motion by using a virtual plane. The plane represents the DOF operated by user and the DOFs automatically generated by the control system. The concept of the method is reported in this paper with its preliminary experimental results.
