| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a manipulator apparatus 1 having a plurality of joints driven with high accuracy and high efficiency and a medical device system 2 having the manipulator apparatus 1. <P>SOLUTION: This medical device system comprises a manipulator 100 having a plurality of joints, a parameter storage means 46 for storing joint parameters, a trajectory inputting means 42 for inputting, as a trajectory plan, trajectories for moving the manipulator 100 from the current position and attitude to the target position and attitude, and a trajectory setting means 45 for setting a joint angle trajectory according to the joint angle trajectories and the trajectory plan. The trajectory setting means setsa largest available force from among joint angle trajectories with a minimum number of driven joints based on a largest available force parameter for the each joint. <P>COPYRIGHT: (C)2009,JPO&INPIT |
