Micro-macro manipulator with haptic interface-2nd report: control by using virtual model

This paper treats a basic system which realizes a scaled manipulation environment. Tools for scaled manipulation are necessary when one manipulates an extremely large or small size target. In the case of manipulation without scaling, it is possible to let the slave-manipulators have the same configuration as the master-manipulators. But in the case of different scale, it is difficult to design these manipulators with the same configuration. Thus different configurations with some intelligent control is necessary for such master-slave manipulators. In this paper the authors propose a control method for different scale master-slave manipulator