MANIPULATOR-DEVICE CONTROLLING METHOD

摘要

A manipulator-device controlling method including: a step of receiving manipulation signals for manipulators; a step of calculating a target position of a joint on the basis of the manipulation signals; steps of calculating a maximum distance between the manipulators when the joint is assumed to be placed at the target position; a step of comparing the maximum distance with a predetermined threshold; a step of moving the joint to the target position in the case in which the maximum distance is equal to or less than the predetermined threshold; and a step of stopping the movement of the joint in the case in which the maximum distance is greater than the predetermined threshold.

主权项

1. A manipulator-device controlling method for a manipulator device that is provided with two or more manipulators that are arranged side-by-side and in which at least one of these manipulators has a joint, the manipulator-device controlling method comprising:
a signal receiving step of receiving manipulation signals for the manipulators; a position calculating step of calculating, on the basis of the manipulation signals received in the signal receiving step, a target position to which the joint should be moved; a distance calculating step of calculating a maximum distance between the manipulators when the joint is assumed to be placed at the target position calculated in the position calculating step; a judging step of comparing the maximum distance calculated in the distance calculating step with a predetermined threshold; a movement executing step of moving the joint to the target position in the case in which the maximum distance is judged to be equal to or less than the predetermined threshold in the judging step; and a movement stopping step of stopping the movement of the joint in the case in which the maximum distance is judged to be greater than the predetermined threshold in the judging step.