MASTER MANIPULATION DEVICE FOR ROBOT AND CONTROL METHOD OF SURGICAL ROBOT HAVING THE SAME

摘要

PURPOSE: A master operation device of a robot and a method for controlling a surgery robot with the same are provided to prevent a parallel link from drooping down as a moment balance mechanism is applied to the parallel link. CONSTITUTION: A master operation device of a robot(1) comprises a gimbal(10), first and second link units(3,5). The gimbal is controlled by users. The first link unit is rotationally connected to the robot, and the position of the gimbal on an x-y plane is determined by the driving of the first link unit. The second link unit is connected to the first link unit, and the position of the gimbal on a z-axis is determined by the driving of the second link unit. The gimbal is moved to a predetermined position by the driving of the first and second link units.