Master device for master slave apparatus, method of controlling the same, and master slave robot

摘要

A master device is provided to a master slave apparatus in which a hand mechanism opens/closes to grip a target object and a slave mechanism performs a task on a target article. The master device includes a hand manipulation mechanism for manipulating the hand mechanism. A person remotely manipulates the slave mechanism by a master mechanism and the hand manipulation mechanism manipulates to cause the hand mechanism to perform the task. In the hand manipulation mechanism, a hand manipulation portion having a pair of open/close manipulation portions manipulated by the person moves forward/backward on a slider, the pair of open/close manipulation portions is opened/closed to change the angle therebetween so that the hand mechanism is opened/closed. A master hand control device transmits, to the slave mechanism, motion information used for manipulating the hand mechanism based on a position of the hand manipulation portion relative to the slider or the angle.

主权项

1. A master device for a master slave apparatus, provided to the master slave apparatus comprising a hand mechanism configured to open or close to grip a target object, and a slave mechanism that has the hand mechanism and is configured to perform a task on a target article with the target object gripped by the hand mechanism, the master device comprising a hand manipulation mechanism configured to manipulate the hand mechanism and a master mechanism that includes the hand manipulation mechanism and is configured to be manipulated by a person to cause remote manipulation of the slave mechanism, the manipulation of the hand manipulation mechanism of the master mechanism causing the hand mechanism of the slave mechanism to grip the target object and perform the task on the target article, wherein
the hand manipulation mechanism includes a hand manipulation portion having a pair of open/close manipulation portions configured to be manipulated by the person, and a slider along which the hand manipulation portion moves forward or backward, and the pair of open/close manipulation portions is configured to be manipulated to be opened or closed between opened positions and closed positions to change an angle between the pair of open/close manipulation portions and open or close a pair of open/close members of the hand mechanism, the slider has an end coupled to a distal end of a robot arm of the master mechanism, and includes a linear slide rail and an operation portion supporter that is engaged with the linear slide rail and is manually slid on the linear slide rail, and the operation portion supporter is provided with the pair of open/close manipulation portions; and the master device further comprises a master hand control device configured to transmit, to the slave mechanism, motion information used for manipulating the hand mechanism in accordance with a position of the hand manipulation portion relative to the slider and the angle between the pair of open/close manipulation portions.