| 摘要 |
This manipulator system operates a manipulator according to an image from an operator regardless of the state of a revolute joint. Provided is a manipulator system (1) provided with: an operation input unit (5) for inputting an operation command; manipulators (3a, 3b); and a control unit (6) for controlling the manipulators (3a, 3b) in response to the operation command input by the operation input unit (5). The manipulators (3a, 3b) are each provided with: an elongated insertion part; one or more bending joints which cause a distal end section provided on the distal end of the insertion part to swing around an axis orthogonal to the longitudinal axis of the insertion part; and a revolute joint which is provided on the proximal end side from the bending joint and causes the distal end section to revolve around the longitudinal axis. The operation input unit (5) is provided with a bending operation input section for inputting an operation command of the bending joint, and a revolution operation input section for inputting an operation command of the revolute joint. The control unit (6) actuates the revolution operation input section or the revolute joint such that the operation command of the revolution operation input unit and the revolution angle of the revolute joint indicate relative angles of 0° or ±180°. |
