Manipulator control method and system

Details Manipulator control method and system Manipulator control method and system

G - Physics

05

B

341/97

G05B 19/42 (2006.01) G05B 19/427 (2006.01)

Patent

CA 1330364

ABSTRACT OF THE DISCLOSURE After positional information of the master arm is transformed into first generalized coordinates corresponding to positional information representing an instruction position of the slave arm, when a signal instructing an interruption of the associated operation between the master arm and the slave arm is received and then the positional relationships between the master arm and the slave arm connected thereto by use of an imaging device are updated, the first generalized coordinates are transformed into the second generalized coordinates based on the new positional relationships so as to restart the associated operation therebetween. The optimal control of the manipulator is conducted through matrix operations related to the change-over between imaging devices, the reset operation conducted in an area of the movable range of the master arm, and the alteration of the ratio between the movements of the associated operation.

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