Compensation for Object Motion in Remote Manipulation
Mechanical Engineering Laboratory,
1-2 Namiki, Tsukuba, Ibaraki 305, Japan
The goal of this project is the proposal of the concept of master/slave control with compensation for object motion in order to facilitate the manipulation of a moving object and the evaluation of the compensation by experimentally comparing the performance of the operator. An experimental system was constructed consisting of a master/slave manipulator, a moving table for the moving object, and a computer which controls both the manipulator and table. A computer control scheme for master/ slave and compensation for object motion was developed in consideration of the kinematics and dynamics of the manipulator. The computation time in this scheme was shown to be practical and permitted a system sampling time of 50 ms. Experiments were conducted with human operators performing manipulation tasks in computer controlled master/slave. Their performance was compared in three situations: no object motion, compensation for object motion, and no compensation. The comparison of the compensation and no compensation situations showed that compensation reduced the operation time by 26-41% in the peg moving task and increased the accuracy by two and a half times in rectangle tracing. However, in valve turning, significant improvement was not observed. Thus, it was concluded that compensation for object motion can significantly improve the performance of the human operator in certain kinds of tasks.