| 摘要 |
PROBLEM TO BE SOLVED: To materialize sharing control of tactile sense information by a plurality of robots. SOLUTION: Masters 1, 2 and a slave 5 are controlled in acceleration dimension by first disturbance observers 11, 12, 15 and second disturbance observers 51, 52, 53. Therefore, while ensuring the robustness of a system, position control making the position displacement of the masters 1, 2 and the slave 5 zero, and power control making the masters 1, 2 and the slave 5 satisfy the law of action and reaction are independently carried out in a virtual space. Therefore, tactile sense sharing control which have been materialized only in a system wherein the master and the slave exist in a ratio of one to one so far, can be now materialized by two or more masters 1, 2 and one or more slave 5. COPYRIGHT: (C)2007,JPO&INPIT
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