Master/slave manipulator and control method therefor
US5949686A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Mar 20, 1997 |
| Grant date | Sep 7, 1999 |
| Priority date | — |
| Expiry date | Mar 20, 2017 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/45058
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
The present invention relates to a master/slave manipulator and a method for controlling the same, in which a large working area and good controllability can be provided and a corresponding position shift and an enlargement ratio change can also be attained. To this end, a plurality of representing points are set on and inside a closed surface (A1) of an operating area (A) of one manipulator, while a plurality of target points corresponding to the plurality of representing points are set on and inside a closed surface (B1) of a working area (B) of the other manipulator. Working amounts (.beta.1, .beta.2, .theta.1, .theta.2) when the leading ends (11, 12) of the one manipulator and the other manipulator respectively reach the plurality of representing points and the plurality of target points, and a corresponding relationship between the working amounts of the two manipulators are obtained; and when the slave (2) is to be operated, the working amounts (.beta.1, .beta.2) of the master (1) are converted into working amounts (.theta.1, .theta.2) of the slave (2) to thereby operate the slave (2).
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.