Control apparatus and method for master-slave robot, master-slave robot, and control program
US9233467B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 5, 2013 |
| Grant date | Jan 12, 2016 |
| Priority date | — |
| Expiry date | Jan 11, 2034 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40138
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A master-slave device grips an object and performs a task while being in contact with a to-be-treated object. A force detection unit measures force information given to a slave mechanism. A force correction determination unit determines a force correction part serving as information from correction start to end times of force information transmitted to a master mechanism and, as a correcting method to perform correction, a first method determining a gain such that a reduction in absolute value of force information at the force correction part is maintained for a predetermined period of time or a second method determining a gain such that a reduction and an increase in the absolute value are repeated within a range that is not more than a value by reducing the absolute value. A force correction unit corrects information of a type of a force based on the force correction part and the gain.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.