History of Robotics Research and Development of Japan1986ManipulationADVANCED TELEOPERAT10N WITH CONFIGURAT10N DIFFERING BILATERAL MASTER SLAVE SYSTEM

Tatsuo Arai	Osaka University
Eiji Nakano	Mechanical Engineering Laboratory (MEL)

A bilateral master‐slave control method for manipulators with differing master and slave arm configurations is proposed to efficiently control robots working in hazardous or remote environments such as nuclear power plants ,or space and underwater. In this method any pair or master device and slave manipulator may be connected together. Therefore it has some advantages over the conventional method in which similar master and slave manipulators are used. The first advantage of this method is the improvement of maneuverability in operation, second the increase of versatility, and third the promising application to teaching operation of complex tasks for industrial robots. The preliminary experiments using three types or manipulators have shown the feasibility of the proposed method. In these experiments the position tracing of the slave, the force feedback capability of the master, and the computation time of the computer required for the operations of coordinate transformations, position and force servos, are verified. The results of these experiments and more practical experiments, such as a crank turning motion, show the reasonable feasibility and the broad applicability of the proposed method. Then we propose a universal master device, which is designed based on the results of the preliminary experiments. In this device we have introduced position-and-orientation independent mechanism to avoid complex coordinate transformations, and a gravity compensation method using statics analysis. 2nd RSJ Best Paper Award in 1988

図1　極座標型マスタと関節型スレイブの組合わせによるバイラテラルマスタスレイブ制御の実験 — Fig. 1 Preliminary experiment setup to verify bilateral control for the polar coordinate master and the articulated master.

図2　直交座標型の並進3自由度とヨー・ピッチ・ロール回転3自由度の汎用マスタアーム。座標変換演算を容易にするため並進運動と回転運動が独立になっている — Fig. 2 6 s.o.f. universal master device composed of separated 3 d.o.f. Cartesian translational and 3 d.o.f. yaw-pitch-roll rotational mechanisms to achieve simplified coordinate transformation.

図3　汎用マスタと7自由度人間腕型スレイブの組合わせによる異自由度マスタスレイブの実験

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