受動性に基づくテレマニピュレータのTask-Oriented制御

Abstract

This paper proposes a control algorithm of a master-slave manipulator system based on passivity of the system. We model task-oriented characteristics as a task-oriented virtual me chanism and control the master-slave system so that it has the dynamics of the task-oriented virtual mechanism. The master-slave manipulator system works as a tool for a given task in the proposed system. We demonstrate the total stability of the system including an operator and a passive environment based on the passivity of the proposed master-slave system. The proposed method is experimentally applied to a master-slave manipulator and the experimental results illustrate the validity of the system. © 1995, The Japan Society of Mechanical Engineers. All rights reserved.