Title:
MASTER-SLAVE MANIPULATOR AND METHOD FOR CONTROLLING SAME
Document Type and Number:
WIPO Patent Application WO/2018/216204
Kind Code:
A1
Abstract:
With respect to master-slave manipulators that have redundant joints, the purpose of the present invention is to enable intuitive control inclusive of redundant degrees of freedom even when a remote control device and slave arm have different structures. The present invention provides a master-slave manipulator (1) including a remote control device (100) which serves as a master to provide manipulation information corresponding to a plurality of degrees of freedom, a slave manipulator (300) which has a plurality of joints corresponding to the plurality of degrees of freedom and includes redundant joints, and a control unit (200) which controls operation of the joints according to the manipulation information. The control unit (200) determines a drive ratio α (0<α<1) of the joints in a redundant relationship and drives the same depending on whether work by the slave manipulator (300) is being carried out.
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Inventors:
ARAI TAKESHI (JP)
Application Number:
PCT/JP2017/019730
Publication Date:
November 29, 2018
Filing Date:
May 26, 2017
Export Citation:
Assignee:
OLYMPUS CORP (JP)
International Classes:
A61B34/35; B25J3/00
Foreign References:
| JP2014180751A | 2014-09-29 | |||
| JP2012055996A | 2012-03-22 | |||
| JP2012131014A | 2012-07-12 | |||
| JP2015534835A | 2015-12-07 |
Attorney, Agent or Firm:
UEDA, Kunio et al. (JP)
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