This research is concerned with master slave manipulation. A new master slave system in tele-existence mode, i.e., the basic part of impedance controlled master slave system, has been presented in the part I. In the part II, the system is expanded so that it controls both impedance models of the environment and the manipulators, and modifies the force sensation of the master and slave manipulators as if an operator were in the different physical environment, and the impedances of the master and slave manipulators are determined by using similarity transformation in physical modelling when the manipulators have different scales, force and/or velocity conditions. These methods are verified in the experiments with the two degrees of freedom direct drive manipulator.
雑誌名
日本ロボット学会誌
巻
8
号
3
ページ
253 - 264
発行年
1990-06
ISSN
02891824
書誌レコードID
AN00141189
フォーマット
application/pdf
日本十進分類法
548.3
出版者
日本ロボット学会
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インピーダンス制御型マスタ・スレーブ・システム (II) : 操作感の変更と操作能力の拡張
0803B013.pdf
(763.38KB)
