MASTER APPARATUS FOR MASTER SLAVE APPARATUS, METHOD FOR CONTROLLING THE MASTER APPARATUS, AND THE MASTER SLAVE APPARATUS

摘要

A master apparatus for a master slave apparatus, the master apparatus controlling a slave apparatus, includes a hand operation mechanism configured to perform operating instructions for opening and closing a hand mechanism including a pair of opening and closing members, the hand mechanism being connected to a slave mechanism, the slave apparatus including the slave mechanism and the hand mechanism; a master mechanism configured to operate the slave mechanism; a master hand controlling device; and an output unit. The hand operation mechanism includes a fixed unit, an opening and closing operation unit, and a slide unit. The slide unit is attached so as to be capable of reciprocating with respect to the fixed unit. The opening and closing operation unit is connected to the slide unit, is capable of reciprocating with respect to the fixed unit, and is openable and closable with respect to the fixed unit. The master hand controlling device controls opening and closing of the pair of opening and closing members on the basis of an opening and closing amount of the opening and closing operation unit. The output unit outputs operation information to the slave mechanism on the basis of the opening and closing amount and a position of the opening and closing operation unit at the fixed unit, the operation information including an angle of the pair of opening and closing members.

主权项

1. A master apparatus for a master slave apparatus, the master apparatus controlling a slave apparatus, the master apparatus comprising:
a hand operation mechanism configured to perform operating instructions for opening and closing a hand mechanism including a pair of opening and closing members, the hand mechanism being connected to a slave mechanism, the slave apparatus including the slave mechanism and the hand mechanism; a master mechanism configured to operate the slave mechanism; a master hand controlling device; and an output unit, wherein the hand operation mechanism includes a fixed unit, an opening and closing operation unit, and a slide unit, wherein the slide unit is attached so as to be capable of reciprocating with respect to the fixed unit, wherein the opening and closing operation unit is connected to the slide unit, is capable of reciprocating with respect to the fixed unit, and is openable and closable with respect to the fixed unit, wherein the master hand controlling device controls opening and closing of the pair of opening and closing members on the basis of an opening and closing amount of the opening and closing operation unit, and wherein the output unit outputs operation information to the slave mechanism on the basis of the opening and closing amount and a position of the opening and closing operation unit at the fixed unit, the operation information including an angle of the pair of opening and closing members.