| 摘要 |
PROBLEM TO BE SOLVED: To provide a master-slave system capable of enhancing back drivability, in the master-slave system being low in the back drivability of a slave robot by a mechanism structure.SOLUTION: A master-slave system 1 on the present invention comprises slave actuators Asfor generating slave driving force τfor controlling driving force of a slave robot, actual driving force sensors Fsfor measuring slave actual driving force τactually acting on the final output shaft of the slave actuators As, and a slave target actual driving force arithmetic operation device 3 for determining slave target actual driving force τbeing a target value of the slave actual driving force τby an arithmetic operation on the basis of master operation force fadded to a master robot by an operator U. The slave actuators Asgenerate slave driving force τon the basis of the slave target actual driving force τand the slave actual driving force τ. |
