| 摘要 |
A master-slave system (1) according to the present invention is provided with: at least one master displacement sensor (Pm1-3) for measuring the master displacement in a master robot; at least one slave displacement sensor (Ps1-3) for measuring the slave displacement in a slave robot; a master target displacement computation device (2) for mapping the slave displacement to obtain a master target displacement, which is the target value for the master displacement corresponding to the slave displacement; and a master actuator Am1-3) for generating a master driving force for positionally controlling the master robot on the basis of the master target displacement and the master displacement. The mapping is defined in advance so that no set of master target displacements includes a singular point of the master robot. This master-slave system (1) makes it possible to resolve the singular point problem for both the master robot and the slave robot. |
