Keio University

Yasuhide Morikawa

Masaki Kitajima

Kazuo Nakazawa

Takashi Suzuki

Kouhei Ohnishi

Toshiyuki Murakami

Souji Ozawa

Tomoko Yano

Toshiharu Furukawa

Wataru Iida

The manipulator has two-degree-of-freedom of rotation and gripping, and is capable of ensuring force feedback or force sensation with excellent operationability. A link mechanismis provided between an operation partand a working part. The link mechanismhas four driving rodstoand first and second coupling members of the sane structure,provided at opposite ends of the driving rods. First and second working membersmove correspondingly to the operation of first and second operating memberswith the aid of the link mechanism. The first and second working member can open and close, change the yaw angles and the pitch angles in response to the same action of the first and second operating member through the link mechanism.

Manipulator

A position/force control device includes position detectors on a masterside and on a slaveside. Reaction force estimation observersandestimate reaction force based on outputs of the position detectors. A position control partgenerates acceleration signals a, afor controlling positions on the master side and on the slave side on the basis of the position signals outputted by the position detectors. The operation force control partgenerates acceleration signals a, afor controlling forces applied to the master side and to the slave side based upon the outputs from reaction force estimation observersand. The acceleration composition partcomposes the two sets of acceleration signals a, a, and a, a, and outputs the driving signals for the master side and the slave side.

Position/force control device

Growing community of inventors

Tokyo, Japan

Yasuhide Morikawa