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
First Claim
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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Accused Products
Abstract
A control apparatus for a master slave robot causes a force information correcting unit to correct force information in accordance with a feature of a target object on a screen from target object information calculated by a target object information calculation unit. An operator can thus apply appropriate force while watching a picture projected on a display to perform a task.
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Citations
15 Claims
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A method of controlling 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 method comprising: -
acquiring, by a force information acquiring unit, force information on force externally applied to the slave arm; calculating, by a target object information calculation unit, target object information on a color depth of the target object of the assembly task at the display unit displaying the assembly task; correcting, by a force information correcting unit, 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 presenting to the master slave robot, by a force information presentation unit, the corrected force information generated by the force information correcting unit.
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15. A computer-readable recording medium including a control program 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 program causing a computer to execute the steps of: -
acquiring, by a force information acquiring unit, force information on force externally applied to the slave arm; calculating, by a target object information calculation unit, target object information on a color depth of the target object of the assembly task at the display unit displaying the assembly task; correcting, by a force information correcting unit, 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 presenting to the master slave robot, by a force information presentation unit, the corrected force information generated by the force information correcting unit.
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Specification