Cooperative Control of Two Robots by Remote Operation

抄録

A cooperative control of two robots by remote operation is proposed in this paper. The two slave robots are controlled simultaneously by another remote master robot that is manipulated by a human operator. Force-reflection bilateral control method is adopted in the master and slave robots control to make the operator manipulate the robots smoothly. In order to make the two slave robots act cooperatively to catch, carry and set an object two methods of hybrid control and impedance control are used and compared to control the two slave robots.