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 force information correcting unit generates force information in accordance with magnification percentage information acquired by a display information acquiring unit. The force information matches a picture watched by an operator to manipulation of the operator with no sense of incongruity. A force information presentation unit presents the generated force information to the operator, so that work efficiency is improved.

主权项

1. A control apparatus for a master slave robot that comprises a slave arm that performs a task to a soft object and a master arm manipulated by a person who remotely manipulates the slave arm, the person performing the task using the master slave robot while watching a state of the task imaged by an imaging device and displayed on a display unit,
the control apparatus comprising: a force information acquiring unit that acquires information on force externally applied to the slave arm; a display information acquiring unit that acquires magnification percentage information at the display unit that displays the task; a force information correcting unit that corrects the force information acquired from the force information acquiring unit smaller as the magnification percentage information acquired from the display information acquiring unit is larger, to generate corrected force information; and a force information presentation unit that presents, to the master arm, the corrected force information generated by the force information correcting unit.