Compliance Control of Master-Slave System (Comparison of Master-Slave System between DCC and WCC)

摘要

This paper shows compliance control results of Master-Slave system in comparison between Direct Compliance Control (DCC) and World Compliance Control (WCC). DCC gives compliance in the joint control system. On the other hand, WCC gives the compliance to robot hand in the work space. DCC can avoid reckless driving in the singular attitude although WCC shows reckless moving in it. These results show that DCC gives an desirable performance for the Master-Slave system which may be in the singular attitude under manipulation process. On the other hand, DCC results show lock phenomenon of the manipulator, and vibration in neighborhood of the singular attitude. Moreover, DCC operating force of Master system in the free space shows larger then that of WCC because of J and JT transformation effect. Moreover, in the constrained space, perturbation of DCC force shows a little bit larger than that of WCC force, which gives a similar effect in the free space.