REMOTE CONTROL ROBOT SYSTEM

摘要

This remote control robot system is provided with a master arm, and a slave arm which has multiple control modes, an automatic mode for operation based on pre-stored task programs and a manual mode for operation based on an operator's manipulations received by the master arm. The master arm is provided with one or more motors which drive a joint of the master arm, and with a motor drive unit which generates a torque command value for actuating a joint in accordance with an outside force acting on the master arm and which applies to the motors a drive current corresponding to the torque command value. When the control mode is manual mode, the motor drive unit generates a torque command value such that the joint is actuated against the frictional force of the motor and in accordance with the outside force.