Abstract
This paper describes the operability for a robot arm for purpose of the environmental measurement by using master-slave control system. The robot arm is mounted on the crawler type disaster response robot in this study. It is common knowledge that master-slave system has the intuitive operability, because the structure of master arm is the same structure as the slave arm. The evaluation method of the robot arm was performed by comparing with the master-slave and the gamepad in accordance with the manipulation task for obstacles in RoboCup Rescue. Form experimental results, we confirmed that the operator can be achieved the faster and steady achievement time by using master-slave control system for the manipulation task in disaster area.
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