Manipulator system

摘要

A manipulator system includes a master manipulation unit that performs a manipulation input by an operator, a slave motion unit that operates in accordance with the manipulation input, an interlock control unit that analyzes the manipulation input and performs control to operate the slave motion unit, interlocking with the manipulation input, and an interlock permission input unit that is capable of being manipulated by the operator and transmits, to the interlock control unit, an interlock permission mode signal used to enter a mode in which interlock of the slave motion unit is permitted based on the manipulation input of the mater manipulation unit when the operator manipulates the interlock permission input unit.

主权项

1. A manipulator system comprising:
a master manipulation unit with which an operator performs a manipulation input; a slave motion unit that is configured to operate in accordance with the manipulation input; an interlock control unit that analyzes the manipulation input and performs control to operate the slave motion unit, interlocking with the manipulation input; and an interlock permission input unit that is configured to be manipulated by the operator and transmits, to the interlock control unit, an interlock permission mode signal used to enter a mode in which interlock of the slave motion unit is permitted based on the manipulation input of the mater manipulation unit when the operator manipulates the interlock permission input unit, wherein the interlock control unit stops the interlock control when the operation of the slave motion unit is deviated from an operation corresponding to the manipulation input, and monitors the manipulation input of the master manipulation unit and an operation state of the slave motion unit, and the interlock control unit interlocks the operation of the slave motion unit with the operation corresponding to the manipulation input after the interlock control unit receives the interlock permission mode signal, when the interlock control unit detects that the manipulation input matches the operation state.