History of Robotics Research and Development of Japan1974ManipulationCooperational Control of the Anthropomorphous Manipulator "MELARM"

Eiji Nakano	Mechanical Engineering Laboratory Trade and Industry (MITI)
Shotaro Ozaki	Mechanical Engineering Laboratory Trade and Industry (MITI)
Tatsuzo Ishida	Waseda University
Ichiro Kato	Waseda University

Studies on a pair of anthropomorphous manipulators "MELARM" were conducted mainly to achieve manipulation of objects, without human intervention, by the effective use of two mechanical arms.In a multi-degree of freedom manipulator there are two significant problems -one being how to coordinate all the actuators to produce movement in a space of a lower dimension, and the other being how to make two arms cooperate to do effective work. A minimum position of the MELARM and a cooperational control procedure using force sensors is proposed for determining the movements of a pair of manipulators without human intervention when as an example a box is carried by them.

写真3　melarm I の両腕協調運搬動作の写真 — Photo 3 Cooperation of melarm I

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