A design method is proposed of a master-slave system executing a continuous contact task with high maneuverability. We introduce a variable viscosity-ellipsoid that represents the viscosity coefficients of the mechanical impedance model. This model determines the dynamic behavior of the master-slave system. The viscosity parameters of the impedance model are changed according to the characteristics of the ellipsoid. As a result, the damping to the direction of a stiff environment increases and that to the maneuvering direction decreases. In addition, the shape and posture of the ellipsoid are automatically adjusted to reflect the operator's intention. With the experimental results of trace work, we show the validity of the proposed method.
可変粘性楕円体を用いたインピーダンスモデル追従型マスタスレーブシステム
kironC_653_170.pdf
(795.09KB)
