Development of Master Manipulator Supporting Manipulation Feeling Using Pneumatic Parallel Manipulator

Abstract

A master manipulator is constructed by using pneumatic parallel manipulator since it can drive 6 d.o.f. motion and display a force for human by regulating a pressure in a cylinder chamber. If an environment around the slave’s hand could be constructed so that it may be suitable for the execution of a task, it must be effective for the improvement of task efficiency. Then we construst a control system introducing impedance control to attain such a property.