| 摘要 |
A second operation part (102, 103) serving as an operation member for an operator to designate the drive amount of a redundant joint of a slave arm (31) is provided in an operation unit (11) of a master operation input device (10). When the slave arm (31) does not have the redundant joint, the drive amount of each joint is found by solving the overall inverse kinematics of the slave arm (31). When the slave arm (31) has the redundant joint, the drive amount of each of joints other than the end redundant joint (202) is found by solving the inverse kinematics on the assumption that the redundant joint (202) is not present. Regarding the redundant joint (202), the drive amount corresponding to the designated value from the master operation input device (10) is used as the drive amount thereof. |
