マスタスレーブマニピュレータによる柔軟物の搬送位置決め作業のための操作支援制御と評価

摘要

近年，部品の搬送や組付け作業において，人間のrn操作を支援する人間機械協調型システムの研究が盛rnんに行われ，実用化された例も報告されている．rnこれは，作業者が操作する操作部と部品を搬送するrn搬送部が一体となった直接操作型のシステムである．%This paper presents an assist control method for flexible part conveyance and positioning using a master slave manipulator. The proposed assist control consists of the notch filters in the master side and the shear force feedback in the slave side. The operating force signal is attenuated at the resonance frequency of the flexible part by using the notch filters, by which the excitation of the vibration of the flexible part is reduced. The vibrations of the flexible part are suppressed by using the shear force feedback. The effectiveness of the proposed method is verified from standpoints of maneuverability and operating feel. The former is based on the evaluation of the task achievement time, and the latter is based on evaluation of operating feel of the operators using subjective evaluation.