Abstract
In Japan Atomic Energy Research Institute, we have developed a radiation-proof robot (called Ra BOT) for accomplishing a given mission under severe conditions such as gamma radiation. RaBOT can be maneuvered by remote commands from the operation desk with the master arm system. However, the system has become large and complicated because the master arms have the same number of active joints as the slave manipulators; moreover, that provide not only the required sensory feedbacks on the operator but also uncomfortable constraints. This report examines the performance of teleoperation for the master arm system and proposes a new type of master arm as the alternative.
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