Abstract
It is important not only to prevent disasters, but to build a system for the rescue activity. Two armed rescue manipulator is proposed as one of them.The all joints of this manipulator consists of self lock mechanism and this manipulator is operated by the master slave system in order to work the purpose.However, there is a problem that an initial error arises from the special structural feature. In this paper, we propose to use Two-Stage Control System as a solution of this initial error problem, and report the experimental results.
