操作性向上のための機能分離による異自由度ロボット間バイラテラル制御

DOI Web Site 被引用文献3件 参考文献24件

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  • Bilateral Control between Robots with Different Degrees of Freedom by Functional Decomposition for Operability Improvement
  • ソウサセイ コウジョウ ノ タメ ノ キノウ ブンリ ニ ヨル イジユウド ロボット カン バイラテラル セイギョ

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This paper proposes a bilateral control for master and slave systems with different degrees of freedom (DOF). In this paper, it is assumed that the number of DOF on the master side is smaller than that on the slave side. In addition, the slave system is divided into slave subsystems according to the number of DOF on the master side. Each slave subsystem accomplishes two kinds of distinctive functions; “task realization by bilateral control between a master robot and a slave subsystem” and “adaptation to environment in contact with a slave subsystem by automation control.” The task realization is achieved within the range of the number of DOF on the master side. On the other hand, the adaptation to environment in contact with the slave subsystem is achieved by using the DOF not to be utilized for the task realization. In the results, the proposed controller actualizes both functions. In addition, a human operator can carry out the desired task of the slave system without the consideration of environmental surface. The validity of the proposed method is confirmed by experimental results.

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