Master-slave manipulator
AssigneeOlympus Corporation
InventorKosuke Kishi
Life of this patent
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Abstract
A master-slave manipulator includes a remote manipulation device, a slave manipulator, and a control unit. The remote manipulation device as a master gives an operating command corresponding to a plurality of degrees of freedom. The slave manipulator includes a plurality of joints corresponding to the degrees of freedom. The slave manipulator includes a redundant joint among the joints. The control unit controls operations of the joints in accordance with the operating command. The control unit calculates an orientation change of the remote manipulation device from the operating command at predetermined time intervals and selects and drives one of the joints in redundancy relationship among the joints in accordance with the orientation change.
Claims13
A master-slave manipulator comprising:
- a remote manipulation device as a master which gives an operating command corresponding to a plurality of degrees of freedom;
- a slave manipulator which includes a plurality of joints corresponding to the degrees of freedom and includes a redundant joint among the joints;
- and
- a control unit which controls operations of the joints in accordance with the operating command, wherein
- the control unit calculates an orientation change of the remote manipulation device from the operating command at predetermined time intervals and selects and drives one of the joints in redundancy relationship among the joints in accordance with the orientation change, and
- the control unit selects and drives one of the joints in redundancy relationship among the joints based on an angle formed by an axis representing the orientation change and a predetermined axis of the remote manipulation device.
Dependencies are inferred from the claim text.