宇宙用マスタ・スレーブ・マニピュレータ・システムの開発

A generalized master slave manipulator system which was assumed to operate near and/or around the space station was developed. A standardized serial communication line was used between the master and the slave manipulator. The master manipulator was designed to be well self-balance for getting as same feelings as if it was operated under the zero-gravity condition. A force/torque reflecting bilateral control using the force-torque sensor settled at the wrist of the slave manipulator was adopted. A experiment under which the slave manipulator was in a vacuum chamber was performed and it could be operated within a restricted sight of cameras set up in the chamber with changing the coordinates according to camera views. The problems which would result from adopting a generalized master slave manipulator system were almost solved except the delay caused by the calculation time.