On the Remote Mini Manipulator

This paper presents a fundamental study of remote manipulator system, to be applied to the assembling precise and small parts, the handling of medical samples in a culture cabinet and so on.This system consists of a small and precise slave manipulator and a master manipulator of which the size is adapted to a human operator. Displacement of the master manipulator is reduced and transferred to the slave manipulator, and a small force acting on the slave manipulator is magnified and feed back to the master manipulator.In this paper, the construction of the manipulators is explained and to take advantage of their manoeuvrability, new control methods of the master arm and the gripper are proposed. The usefulness of the methods are confirmed experimentally.