Manipulator and its control apparatus and method

A manipulator operative in a master/slave operative mode, comprising:

• a master unit commanding an operation;
• a slave unit having a work unit;
• a detector detecting the orientation of the master unit and the orientation of the slave unit;
• and
• a control device controlling the slave unit in response to the command from the master unit,
• wherein the control device includes:
• a function of determining a non-master/slave operative mode or a master/slave operative mode;
• a function of calculating a difference between the orientation of the master unit and the orientation of the slave unit;
• and
• a function of comparing the absolute value of the difference with a preset reference value;
• and depending upon the result of the comparison, determining a normal master/slave operative mode or a transitional master/slave operative mode, in said master/slave operative mode, said transitional master/slave operative mode is a transitional mode from the non-master/slave operative mode to the master/slave operative mode.

A manipulator operative in a master/slave operative mode, comprising:

• a master unit commanding an operation;
• a slave unit having a work unit;
• a detector detecting the position of the master unit and the position of the slave unit;
• and
• a control device controlling the slave unit in response to the command from the master unit, wherein the control device includes:
• a function of determining a non-master/slave operative mode or a master/slave operative mode;
• a function of calculating a difference between the position of the master unit and the orientation of the slave unit;
• and
• a function of comparing the absolute value of the difference with a preset reference value;
• and depending upon the result of the comparison, determining a normal master/slave operative mode or a transitional master/slave operative mode, in said master/slave operative mode, said transitional master/slave operative mode is a transitional mode from the non-master/slave operative mode to the master/slave operative mode.