Abstract
The development of 6 DOF Master-Slave Human-Assisted Manipulator Arm with relaxation of kinematics similarity is purposed with experimental results. The Manipulator system consists of a Tendon-Pulley train Master-Arm and the 6 DOF, Chula III, slave arm with five-bar linkage. The maneuverability of the manipulator system is imroved by using a virtual guidance and position gain. (Gp ). The virtual guidance, implement in the Master Arm, will improve the maneuverability for the operators, while the Gp will improve the accuracy of position and orientations of the system. The experimental results shown that the operator with virtual guidance can control the slave arm very effective. The accuracy of positions and orientations will depends on the, used for the path generation, which is the gain for amplifying the error signals of the master and slave.