A posture control of redundant manipulator using image information on bilateral system

摘要

In this research, we propose a construction method of bilateral system using redundant manipulator. In bilateral system, operation can be realized in narrow space and at remote plate, and the master-slave robots with redundancy are needed to operate variedly. However, human operation will be difficult because of the multifunctional mechanism. Especially, operating the posture of redundant manipulator by human hand is so difficult. This paper expresses about a construction of bilateral system so that it assists the human operation by focusing the posture control of redundant manipulator. Furthermore, bilateral system needs the visual information by cameras to recognize the remote environment in slave. By using this camera information, the assist to the difficult operation of redundant manipulator will be realized.