Master-slave manipulator apparatus and method therefor,...

Details Master-slave manipulator apparatus and method therefor,... Master-slave manipulator apparatus and method therefor,...

B - Operations, Transporting

25

J

B25J 3/00 (2006.01) B25J 9/16 (2006.01) G05B 19/427 (2006.01)

Patent

CA 2289778

A master-slave manipulator apparatus and a control method therefor, in which a movement which an operator does not intend is prevented from, thereby reflecting the operator's intention accurately and correctly, comprises : a master manipulator 1 for conducting an operation input therewith, a controller 4 for processing the operation input, and a slave manipulator 12 for operating upon drive instruction from the controller, wherein the master manipulator 1 comprises a plurality of force detectors 201 - 20N, and the controller 4 decide a driver shaft, by comparing an output from a pattern producing means 5 for producing a generation pattern of the outputs of the plurality of force detectors to a pattern stored in a memory means 38 in advance, thereby removing the operation input which is caused unconsciously in the operation input of the master manipulator.

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