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Development of a Master Slave Manipulator System for Space Use
宇宙用マスタ・スレーブ・マニピュレータ・システムの開発
1987
The Journal of the Japan Society of Aeronautical Engineering
宇宙用マスタ・スレーブ・マニピュレータ・システムの開発
A generalized master slave manipulator system which was assumed to operate near and/or around the space station was developed. A standardized serial communication line was used between the master and the slave manipulator. The master manipulator was designed to be well self-balance for getting as same feelings as if it was operated under the zero-gravity condition. A force/torque reflecting bilateral control using the force-torque sensor settled at the wrist of the slave manipulator was
doi:10.2322/jjsass1969.35.546
fatcat:74xyb6ngtrdfhe2kudhbfpbwli