Generation of haptic model and remote control of robot using force sensor and PHANToM

摘要

The master-slave control is a technique often used when controlling a remote robot. In this technique, the operator can work while noticing the force which is added to the robot. However, when the taken time in the communication between the robot (the slave) and the operator (the master) is long, accurate control becomes difficult. This research aims to generate the force environment using the posture of the robot and the value detected with the sensor. With this, even if the communication time is long, the operator can operate the robot appropriately while he senses the force added to the robot.