CONTROL APPARATUS AND CONTROL METHOD FOR MASTER-SLAVE ROBOT, MASTER-SLAVE ROBOT, CONTROL PROGRAM FOR MASTER-SLAVE ROBOT, AND INTEGRATED ELECTRONIC CIRCUIT FOR CONTROLLING MASTER-SLAVE ROBOT

摘要

A master motion information obtaining unit obtains at least one or more pieces of master motion information including a position, a posture, a speed, and an angular velocity of a master arm mechanism. A physical information obtaining unit obtains physical information of an operator including an arm weight of the operator. A master motion information correcting unit generates corrected master motion information where an amount of correction of the master motion information is corrected such that heavier the arm weight of the operator included in the physical information, larger a movement of a slave arm. A slave controller controls a slave arm mechanism, according to the corrected master motion information.

主权项

1. A master-slave robot comprising:
a slave arm that performs a task using a slave arm mechanism; a master arm that has a master arm mechanism and that is remotely manipulated by an operator to allow the slave arm mechanism to make a motion: and control circuitry configured to:
obtain master motion information including at least one selected from the group consisting of a position, a posture, a speed, and an angular velocity of the master arm mechanism;obtain physical information including an arm weight of the operator;correct the master motion information based the physical information in such a manner that the heavier the arm weight of the operator included in the physical information is, the larger the slave arm moves; andcontrol the slave arm mechanism, according to the corrected master motion information.