Title:
CONTROL DEVICE FOR MANIPULATOR
Document Type and Number:
Japanese Patent JP3743133
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To shorten a target period and to enable to determine a target position appropriately, by monitoring speed of a master arm during slowing down of a manipulator after joy stick operation, and switching to a master operation at the point of time when the reducing speed equals the speed of the master arm.
SOLUTION: A potentiometer M1 of a master arm and its A/D converter M2, a potentiometer J1 of a joy stick and its A/D converter J2, a potentiometer S1 of a slave arm and its A/D converter S2 are respectively input and processed. When interpolation calculation C is performed by the processing, a motion of the slave arm side after the input of the potentiometer J1 is turned off is monitored as the detected value of the potentiometer S1, then the operation is switched to the master operation by the potentiometer M1 at the point of time when the value of S1 equals that of the potentiometer M1.
Inventors:
Obizu Koichi
Application Number:
JP21436797A
Publication Date:
February 08, 2006
Filing Date:
August 08, 1997
Export Citation:
Assignee:
KABUSHIKI KAISHA MEIDENSHA
International Classes:
B25J3/00; B25J13/02; B25J19/02; G06F3/0338; (IPC1-7): B25J3/00; B25J13/02; B25J19/02; G06F3/033
Domestic Patent References:
| JP5739983A | ||||
| JP71366A | ||||
| JP749715A | ||||
| JP976177A |
Attorney, Agent or Firm:
Toshiro Mitsuishi
Tadahiro Mitsuishi
Yasuyuki Tanaka
Hiroshi Matsumoto
Tadahiro Mitsuishi
Yasuyuki Tanaka
Hiroshi Matsumoto