Application to a bilateral master-slave system for grinding

In this study we developed a remote control system which indicates the applied force employed in grinding work, which the operator needs to judge by using his senses. This system has two manipulators called the master manipulator and the slave manipulator. An operator manipulates the master manipulator, which in turn operates the slave manipulator to perforin the intended acts of the work. The system composed of a parallel type hydraulic manipulator as the slave, and serial-link-type force display for the master. A master-slave grinding system, with a grinding device attached to the slave system, was constructed. The system thus developed performed grinding work while displaying applied force sensations to the operator.