| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a master-slave system to which applied is force projection type bilateral control capable of preventing that unstable behavior is excited when an irregular impact is applied to a master robot.SOLUTION: The master-slave system 1A related to the present invention comprises a master operation force compensation unit which creates a compensation master operation force by applying high-cut filtration where the cut-off frequency is set as equal to or lower than 20 Hz to a master operation force. In the master-slave system 1A, a slave target drive force calculation device determines slave target drive force on the basis of the compensation master operation force, and, by this, a slave robot is controlled on drive force. On the other hand, a master target displacement calculation device determines a master target displacement on the basis of displacement of a slave, and, by this, a master robot is position-controlled.</p> |
