CONTROL APPARATUS AND CONTROL METHOD FOR MASTER SLAVE ROBOT, ROBOT, CONTROL PROGRAM FOR MASTER SLAVE ROBOT, AND INTEGRATED ELECTRONIC CIRCUIT FOR CONTROL OF MASTER SLAVE ROBOT

摘要

A master slave robot is that receives force presentation according to a picture watched by an operator operating the master slave robot. The control apparatus for the master slave robot causes a force information correcting unit to correct force information in accordance with magnification percentage information acquired by a displayed information acquiring unit such that the force information is increased accordingly as the magnification percentage information is larger. An operator can thus apply appropriate force while watching the picture projected on a display to perform a task.

主权项

1. A control apparatus for a master slave robot that includes a slave arm that performs an assembly task to a rigid target object and a master arm manipulated by a person who remotely operates the slave arm, the person performing the assembly task using the master slave robot while watching a state of the assembly task imaged by an imaging device and displayed on a display unit,
the control apparatus comprising: a force information acquiring unit that acquires force information on force externally applied to the slave arm; a displayed information acquiring unit that acquires magnification percentage information on a picture at the display unit displaying the assembly task; a force information correcting unit that generates corrected force information such that the force information acquired from the force information acquiring unit is corrected to be increased accordingly as the magnification percentage information acquired from the displayed information acquiring unit is larger; and a force information presentation unit that presents, to the master arm, the corrected force information generated by the force information correcting unit.