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Title:
CONTROLLER AND CONTROL METHOD FOR MASTER-SLAVE ROBOT, MASTER-SLAVE ROBOT, CONTROL PROGRAM, AND INTEGRATED ELECTRONIC CIRCUIT
Document Type and Number:
WIPO Patent Application WO/2012/029227
Kind Code:
A1
Abstract:
The present invention provides a controller for a master-slave robot. The controller is provided with a force correction location detection unit for detecting a location where force information is corrected from the force information and/or velocity information, and a force correction unit for correcting the force information at the location detected as the force correction location by the force correction location detection unit. As a result, a small external force applied to a slave manipulator (32) is magnified for transmission to a master manipulator (9), and excessive manipulation force applied to the master manipulator (9) is reduced for transmission to the slave manipulator (32).

Inventors:
FUDABA YUDAI
TSUSAKA YUKO
SATO TAICHI
Application Number:
PCT/JP2011/003713
Publication Date:
March 08, 2012
Filing Date:
June 29, 2011
Export Citation:
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Assignee:
PANASONIC CORP (JP)
FUDABA YUDAI
TSUSAKA YUKO
SATO TAICHI
International Classes:
B25J3/00; B25J9/22
Domestic Patent References:
WO2009107358A12009-09-03
Foreign References:
JPH08164807A1996-06-25
JPS6328580A1988-02-06
JPH04101789A1992-04-03
JPH11333764A1999-12-07
JPH08281573A1996-10-29
JP2006212741A2006-08-17
JP2006341348A2006-12-21
JPH09285984A1997-11-04
JPH06270075A1994-09-27
JP2002307336A2002-10-23
JPH08229858A1996-09-10
JPS59157715A1984-09-07
JP2002059380A2002-02-26
JPH08281573A1996-10-29
JPS6434686A1989-02-06
JPH05204440A1993-08-13
Attorney, Agent or Firm:
TANAKA, Mitsuo et al. (JP)
Mitsuo Tanaka (JP)
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