Manipulator system, method for controlling a manipulator, master manipulator, method for controlling a master manipulator, slave manipulator, method for controlling a slave manipulator, and storage medium
First Claim
Patent Images
1. A manipulator system comprising a first master manipulator including a first handling part handled by a first operator, a second master manipulator including a second handling part handled by a second operator, and a slave manipulator including a treating part for treating an object, the first master manipulator comprising:
- first detection means for detecting an absolute attitude, in a space within which the first handling part is allowed to move, of the first handling part; and
first transmission means for transmitting the absolute attitude of the first handling part;
the second master manipulator comprising;
second detection means for detecting an absolute attitude, in a space within which the second handling part is allowed to move, of the second handling part; and
second transmission means for transmitting the absolute attitude of the second handling part;
the slave manipulator comprising;
first acquisition means for acquiring the absolute attitude of the first handling part transmitted from the first transmission means of the first master manipulator, and the absolute attitude of the second handling part transmitted from the second transmission means of the first master manipulator;
first consolidation means for consolidating the absolute attitude of the first handling part and the absolute attitude of the second handling part; and
first control means for controlling the attitude of the treating part in accordance with the result of the consolidation performed by the first consolidation means.
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Abstract
In a system and a method for remotely controlling a slave manipulator easily and highly accurately, operations of three master manipulators are consolidated, and one slave manipulator is remotely controlled in accordance with the consolidation result, thereby ensuring that the slave manipulator is moved along a target path.
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Citations
31 Claims
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1. A manipulator system comprising a first master manipulator including a first handling part handled by a first operator, a second master manipulator including a second handling part handled by a second operator, and a slave manipulator including a treating part for treating an object,
the first master manipulator comprising: -
first detection means for detecting an absolute attitude, in a space within which the first handling part is allowed to move, of the first handling part; and
first transmission means for transmitting the absolute attitude of the first handling part;
the second master manipulator comprising;
second detection means for detecting an absolute attitude, in a space within which the second handling part is allowed to move, of the second handling part; and
second transmission means for transmitting the absolute attitude of the second handling part;
the slave manipulator comprising;
first acquisition means for acquiring the absolute attitude of the first handling part transmitted from the first transmission means of the first master manipulator, and the absolute attitude of the second handling part transmitted from the second transmission means of the first master manipulator;
first consolidation means for consolidating the absolute attitude of the first handling part and the absolute attitude of the second handling part; and
first control means for controlling the attitude of the treating part in accordance with the result of the consolidation performed by the first consolidation means. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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13. A manipulator control method in a manipulator system including a first master manipulator including a first handling part handled by a first operator, a second master manipulator including a second handling part handled by a second operator, and a slave manipulator including a treating part for treating an object, the method comprising:
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a first detection step for detecting an absolute attitude, in a space within which the first handling part is allowed to move, of the first handling part of the first master manipulator;
a first transmission step for transmitting the absolute attitude of the first handling part;
a second detection step for detecting an absolute attitude, in a space within which the second handling part is allowed to move, of the second handling part of the second master manipulator;
a second transmission step for transmitting the absolute attitude of the second handling part;
a first acquisition step for acquiring the absolute attitude of the first handling part transmitted in the first transmission step and the absolute attitude of the second handling part transmitted in the second transmission step;
a first consolidation step for consolidating the absolute attitude of the first handling part and the absolute attitude of the second handling part; and
a first control step for controlling the attitude of the treating part in accordance with the result of the consolidation performed in the first consolidation step.
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25. A storage medium in which is stored a computer-readable program for controlling a manipulator system including a first master manipulator including a first handling part handled by a first operator, a second master manipulator including a second handling part handled by a second operator, and a slave manipulator including a treating part for treating an object, the program comprising:
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a first detection step for detecting an absolute attitude, in a space within which the first handling part is allowed to move, of the first handling part of the first master manipulator;
a first transmission step for transmitting the absolute attitude of the first handling part;
a second detection step for detecting an absolute attitude, in a space within which the second handling part is allowed to move, of the second handling part of the second master manipulator;
a second transmission step for transmitting the absolute attitude of the second handling part;
a first acquisition step for acquiring the absolute attitude of the first handling part transmitted in the first transmission step and the absolute attitude of the second handling part transmitted in the second transmission step;
a first consolidation step for consolidating the absolute attitude of the first handling part and the absolute attitude of the second handling part; and
a first control step for controlling the attitude of the treating part in accordance with the result of the consolidation performed in the first consolidation step.
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26. A master manipulator having a handling part handled by an operator, the master manipulator comprising:
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detection means for detecting the attitude of the handling part; and
transmission means for transmitting the attitude of the handling part to a slave manipulator thereby allowing the slave manipulator to control a treating part of the slave manipulator so as to process an object in accordance with a result of consolidation of the attitude of the handling part and the attitude of a handling part of another master manipulator supplied from said another master manipulator.
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27. A method for controlling a master manipulator having a handling part handled by an operator, the method comprising:
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a detection step for detecting the attitude of the handling part; and
a transmission step for transmitting the attitude of the handling part to a slave manipulator thereby allowing the slave manipulator to control a treating part of the slave manipulator so as to process an object in accordance with a result of consolidation of the attitude of the handling part and the attitude of a handling part of another master manipulator supplied from said another master manipulator.
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28. A storage medium in which is stored a computer-readable program for controlling a master manipulator having a handling part handled by an operator, the program comprising:
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a detection step for detecting the attitude of the handling part; and
a transmission step for transmitting the attitude of the handling part to a slave manipulator thereby allowing the slave manipulator to control a treating part of the slave manipulator so as to process an object in accordance with a result of consolidation of the attitude of the handling part and the attitude of a handling part of another master manipulator supplied from said another master manipulator.
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29. A slave manipulator having a treating part for treating an object, the salve manipulator comprising:
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acquisition means for acquiring the attitude of a first handling part of a first master manipulator transmitted from the first master manipulator and the attitude of a second handling part of a second master manipulator transmitted from the second master manipulator;
consolidation means for consolidating the attitude of the first handling part and the attitude of the second handling part; and
control means for controlling the attitude of the treating part in accordance with the result of the consolidation performed by the consolidation means.
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30. A method for controlling a slave manipulator having a treating part for treating an object, the method comprising:
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an acquisition step for acquiring the attitude of a first handling part of a first master manipulator transmitted from the first master manipulator and the attitude of a second handling part of a second master manipulator transmitted from the second master manipulator;
a consolidation step for consolidating the attitude of the first handling part and the attitude of the second handling part; and
a control step for controlling the attitude of the treating part in accordance with the result of the consolidation performed in the consolidation step.
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31. A storage medium in which is stored a computer-readable program for controlling a slave manipulator having a treating part for treating an object, the program comprising:
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an acquisition step for acquiring the attitude of a first handling part of a first master manipulator transmitted from the first master manipulator and the attitude of a second handling part of a second master manipulator transmitted from the second master manipulator;
a consolidation step for consolidating the attitude of the first handling part and the attitude of the second handling part; and
a control step for controlling the attitude of the treating part in accordance with the result of the consolidation performed in the consolidation step.
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Specification