CONTROL SYSTEM FOR AN ARTICULATED MANIPULATOR ARM

摘要

A control system for an articulated manipulator arm, the manipulator arm having at least three degrees of freedom, said control system comprising a master controller moveable to replicate the at least three degrees of freedom of the manipulator arm; means for determining the rate of movement of the master controller in each direction replicating a degree of freedom of the manipulator arm; and control means for controlling actuation of the manipulator arm whereby the rate of movement of the manipulator arm in each of said at least three degrees of freedom is proportional to the rate of movement of the master controller in each direction replicating a degree of freedom of the manipulator arm.