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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 9,329,587 B2
  • Filed: 09/03/2014
  • Issued: 05/03/2016
  • Est. Priority Date: 09/06/2013
  • Status: Active Grant
First Claim
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1. A control apparatus for controlling a master slave robot to perform an assembly task while a state of the assembly task imaged by an imaging device is displayed on a display unit, the master slave robot including a slave arm and a master arm, the control apparatus comprising:

  • a slave arm control apparatus that controls operation of the slave arm so as to perform the assembly task to a rigid target object; and

    a master arm control apparatus that controls operation of the master arm that remotely operates the slave arm when the master slave robot is used,wherein the slave arm control apparatus includes a force information acquiring unit that acquires force information on force externally applied to the slave arm,wherein the master arm control apparatus includes;

    a displayed information acquiring unit that acquires magnification percentage information on a picture displayed by the display unit displaying the state of the assembly task;

    a force information correcting unit that generates corrected force information such that the force information acquired from the force information acquiring unit is corrected to be increased accordingly as the magnification percentage information acquired from the displayed information acquiring unit is larger;

    a force information presentation unit that presents, to the master arm, the corrected force information generated by the force information correcting unit;

    a size information calculation unit that (i) calculates length information or area information on the rigid target object displayed in the picture displayed by the display unit from imaged picture information acquired from the displayed information acquiring unit and (ii) outputs the calculated length information or the calculated area information on the rigid target object as size information on the rigid target object displayed in the picture displayed by the display unit;

    a magnification percentage information calculation unit that (i) calculates magnification percentage information from the size information received from the size information calculation unit and actual size information on the rigid target object and (ii) transmits the calculated magnification percentage information to the force information correcting unit; and

    a target object information storage unit that (i) stores the actual size information on the rigid target object and (ii) transmits the actual size information on the rigid target object stored therein to the magnification percentage information calculation unit,wherein the magnification percentage information calculation unit (i) divides the size information (Sd) acquired from the size information calculation unit by the actual size information (Sr) on the rigid target object that is acquired from the target object information storage unit and (ii) transmits a division result (Sd/Sr) to the force information correcting unit as the magnification percentage information, andwherein the force information correcting unit multiplies the magnification percentage information acquired from the size information calculation unit and a correction coefficient to generate the corrected force information.

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