Image processing system for work position control of master slave 2-dof manipulators

There exit various kinds of works to which communication network technologies are needed. Treatment of objects under the dangerous circumstances is an example of such works. The master slave system is considered usable to cope with these requirements. In recent years, due to the development of communication network technology, communications between remote locations have become to be possible with short time delay. In this paper, the cooperative motion control system with one master and two slaves (slave 1, slave 2) are presented. The master and the slaves have different geometrical structures. A master and slave 1 are governed by a bilateral control to realize force feedback with negligibly short time delay. The slave manipulator 1 moves according to operation of the master. While, the slave manipulator 2 reveals cooperative motion to the slave manipulator 1 autonomously judging from the information of force sensor and position of the manipulated sensed by a vision camera.