MANEUVERING SYSTEM HAVING INNER FORCE SENSE PRESENTING FUNCTION

摘要

Provided is a maneuvering system of small size and light weight, which is excellent in operability and which has an inner force sense presenting function. When the automatic operation of a slave manipulator (105) following the manual operation of a master manipulator (101) is bilaterally controlled by communications, the master manipulator takes the speed control by an electric drive system as its main, and the slave manipulator takes the power control by an air-pressure drive system as its main. The force to act on the side of the slave manipulator is presented as an inner force sense on the side of the master manipulator. Therefore, the master manipulator does not need compensations of dynamics or own weight of the master manipulator in the operation band of a user so that it can perform the position control in the high precision and the wide band specific to the electric drive system. The slave manipulator is enabled to have a passive softness by the nonlinear characteristic specific to the air-pressure drive system so that it can have a high mass-to-output ratio and can produce a high power.