3台のマニピュレータによる6本のワイヤを用いた協調システムの冗長自由度を利用したジョイスティック制御

A method of controlling a cooperative positioning system consisting three industrial manipulators is proposed. The positioned object suspended with six wires each two which are connected to manipulator tip and remotely controlled by an operator joystick. In our previous study, has already been developed. However, errors the inevitably remain because it difficult sufficiently compensate for geometrical within mechanical system. Therefore, compensation position joystick control essential. For achieving control, necessary keep all tensions positive stable positioning. if moves in arbitrary directions, some wire may become zero impossible know error advance. new not only but also keeping proper developed modes, mode tension mode. degrees freedom translational parameters or orientation selector switch mode, minimum among increased utilizing kinematical redundancy according input. applied experimental effectiveness proposed was verified.