Communications Research Laboratory, Independent Administrative Institution

Shinichi Kimura

Shigeru Tsuchiya

Yasufumi Nagai

A method for controlling a hyper-redundant manipulator including a plurality of links coupled by joints by determining the shape the manipulator takes when the end of the manipulator is moved to a target position, includes modeling each link as an elastic body having a natural length and a suitable modulus of elasticity that enables the elastic body to stretch and contract, simulating the overall shape of the manipulator when the end has been moved to the target position with the joints locked at a freezed angle and the joints are unlocked to return each link to its natural length, and moving the manipulator end to the target position by controlling each joint angle to match the simulation outcome.

Manipulator control method

A robot-arm telemanipulating system that presents an operator auditory information converted from a part of information on operating status of the robot arm (hereinafter referred to as &ldquo;telemetry data&rdquo;) transmitted from a distant position from the operator, so that a burden imposed on the operator can be alleviated. The telemanipulating system includes a sound source for simulatively generating an operating sound of the robot arm under telemanipulation, capable of variably controlling at least one of key, volume and tone of the operating sound by sound source control data input from outside; a telemetry data analyzing unit for analyzing telemetry data transmitted from the robot arm, and controlling the sound source by generating sound source controlling data corresponding to a load amount applied to the robot arm; and an audio output unit for presenting the operator the operating sound generated by the sound source in a form of auditory information.

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Koganei, Japan

Shinichi Kimura