Manipulator and its control apparatus and method
First Claim
1. A manipulator operative in a master/slave operative mode, comprising:
- a master unit commanding an operation;
a slave unit having a work unit;
a detector detecting the orientation of the master unit and the orientation of the slave unit; and
a control device controlling the slave unit in response to the command from the master unit, wherein the control device includes;
a function of determining a non-mater/slave operative mode or a master/slave operative mode;
a function of calculating a difference between the orientation of the master unit and the orientationof the slave unit; and
a function of comparing the absolute value of the difference with a preset reference value; and
depending upon the result of the comparison, determining a normal master/slave operative mode or a transitional master/slave operative mode, in said master/slave operative mode, said transitional master/slave operative mode is a transitional mode from the non-master/slave operative mode to the master/slave operative mode.
2 Assignments
0 Petitions
Accused Products
Abstract
A manipulator operative in a master/slave operative mode, comprising: a master unit commanding an operation; a slave unit having a work unit; a detector detecting the orientation of the master unit and the orientation of the slave unit; and a control device controlling the slave unit in response to the command from the master unit, wherein the control device includes: a function of determining a non-mater/slave operative mode or a master/slave operative mode; a function of calculating a difference between the orientation of the master unit and the orientationof the slave unit; and a function of comparing the absolute value of the difference with a preset reference value; and depending upon the result of the comparison, determining a normal master/slave operative mode or a transitional master/slave operative mode, in the master/slave operative mode, the transitional master/slave operative mode is a transitional mode from the non-master/slave operative mode to the master/slave operative mode.
331 Citations
23 Claims
-
1. A manipulator operative in a master/slave operative mode, comprising:
-
a master unit commanding an operation;
a slave unit having a work unit;
a detector detecting the orientation of the master unit and the orientation of the slave unit; and
a control device controlling the slave unit in response to the command from the master unit, wherein the control device includes;
a function of determining a non-mater/slave operative mode or a master/slave operative mode;
a function of calculating a difference between the orientation of the master unit and the orientationof the slave unit; and
a function of comparing the absolute value of the difference with a preset reference value; and
depending upon the result of the comparison, determining a normal master/slave operative mode or a transitional master/slave operative mode, in said master/slave operative mode, said transitional master/slave operative mode is a transitional mode from the non-master/slave operative mode to the master/slave operative mode. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
-
-
22. A control device of a manipulator working in a master/slave operative mode and having a master unit for commanding an operation, a slave unit having a work unit and operative in response to a command from the master unit, and a detector unit for detecting the orientation of the master unit and the orientation of the slave unit, comprising:
-
a function of calculating a difference between the orientation of the master unit and the orientation of the slave unit; and
a function of comparing the absolute value of the difference with a preset reference value, and switching the operative mode between a transitional master/slave operative mode and a normal master/slave operative mode depending upon the result of the comparison, the transitional master/slave operative mode being a transitional mode from a non-master/slave operative mode to the master/slave operative mode.
-
-
23. A method of control a manipulator working in a master/slave operative mode and having a master unit for commanding an operation, a slave unit having a work unit and operative in response to a command from the master unit, and a detector unit for detecting a difference between the orientation of the master unit and the orientation of the slave unit, comprising:
-
calculating a difference between the orientation of the master unit and the orientation of the slave unit; and
comparing the absolute value of the difference with a preset reference value, and depending upon the result of the comparison, determining a normal master/slave operative mode or a transitional master/slave operative mode which is a transitional mode from a non-master/slave operative mode to the master/slave operative mode.
-
Specification