Workspace Mapping for a Manipulator Operated by Universal Master

The Master-Slave manipulator is generally used as a remote handling device in the hot cell, in which the high level radio-active materials such as spent fuels are handled. This study describes a workspace mapping algorithm for a kinematically dissimilar master-slave system The algorithm provides the operator to guide the slave's end effector into unreachable regions which can appear due to the mismatch of workspace between the master and slave manipulator. A spaceball was used for the universal master device, and it can detect the slight fingertip force applied on the ball and also resolve the applied force. The spaceball device was also used to move 3D images instantaneously and simultaneou...