| 摘要 |
A master-slave manipulator includes a remove manipulation device (100), a slave manipulator (300), and a control unit (200). The remote manipulation device (100) gives an operating command corresponding to a plurality of degrees of freedom. The slave manipulator (300) includes a plurality of joints corresponding to the degrees of freedom and a redundant joint is included among the joints. The control unit (200) controls operations of the joints in accordance with the operating command and calculates an orientation change of the remote manipulation device from the operating command at predetermined time intervals and selects and drives one of the joints in redundancy relationship among the joints in accordance with the orientation change. |
