抄録
The aim of this project is to propose the concept of master/slave control with compensation for object motion to facilitate the manipulation of a moving object and to evaluate the compensation by experimentally comparing the performance of the operator.
An experimental system was built which consists of a master/slave manipulator, a moving table for the moving object, and a computer which controls both the manipulator and the table. A computer control scheme for master/slave and object motion compensation was developed in consideration of the kinematics and dynamics of the manipulator. The computation time in this scheme proved practical and permitted a system sampling of 50ms.
Experiments were carried out with human operators performing manipulation tasks in computer controlled master/slave. Their performance was compared in three situations: no object motion, compensation for object motion, and no compensation. The comparison of the compensation and no compensation situations showed that the compensation reduced the operation time by 26-41% in the peg moving task and increased the accuracy by two and a half times in rectangle tracing. In valve turning, however, a significant improvement was not observed.
Thus, it was concluded that compensation for object motion can improve the performance of the human operator significantly in certain kinds of tasks.
