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CONTROL APPARATUS AND CONTROL METHOD FOR MASTER SLAVE ROBOT, ROBOT, CONTROL PROGRAM FOR MASTER SLAVE ROBOT, AND INTEGRATED ELECTRONIC CIRCUIT FOR CONTROL OF MASTER SLAVE ROBOT

  • US 20150073595A1
  • Filed: 09/02/2014
  • Published: 03/12/2015
  • Est. Priority Date: 09/06/2013
  • Status: Active Grant
First Claim
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1. A control apparatus for a master slave robot that includes a slave arm that performs an assembly task to a target object and a master arm manipulated by a person who remotely operates the slave arm, the person performing the assembly task using the master slave robot while watching a state of the assembly task imaged by an imaging device and displayed on a display unit,the control apparatus comprising:

  • a force information acquiring unit that acquires force information on force externally applied to the slave arm;

    a target object information calculation unit that calculates target object information on a color depth of the target object of the assembly task at the display unit displaying the assembly task;

    a force information correcting unit that corrects the force information acquired from the force information acquiring unit in accordance with the target object information acquired from the target object information acquiring unit, to generate corrected force information; and

    a force information presentation unit that presents, to the master slave robot, the corrected force information generated by the force information correcting unit.

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