Master-slave manipulator apparatus and method therefor, further training apparatus for manipulator operation input and method therefor
US6496756B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 16, 1999 |
| Grant date | Dec 17, 2002 |
| Priority date | — |
| Expiry date | Nov 16, 2019 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40415
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A master-slave manipulator apparatus and a control method therefor, in which a movement which an operator does not intend is prevented, thereby reflecting the operator's intention accurately and correctly, includes a master manipulator for conducting an operation input therewith, a controller for processing the operation input, and a slave manipulator for operating upon drive instruction from the controller, wherein the master manipulator includes a plurality of force detectors, and the controller decides a driver shaft, by comparing an output from a pattern producing means for producing a generation pattern of the outputs of the plurality of force detectors to a pattern stored in a memory means in advance, thereby removing the operation input which is caused unconsciously in the operation input of the master manipulator.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.