| 摘要 |
<P>PROBLEM TO BE SOLVED: To allow an operating means to be intuitively operated even when clutch manipulation is performed in a master-slave manipulator system. <P>SOLUTION: A master-slave manipulator system is provided with: a mode switching means 12 for switching between a master-slave mode in which the slave manipulator 1 is controlled and an observation means visual field tracking clutch mode in which transmission of an operation command to the slave manipulator 1 from the operating means 9 is cut off to move the operating means 9 to an arbitrary position and posture; a switcher control unit 14 for reading a signal of the mode switching means 12 to send a mode signal to an operating means control unit 15; and a visual field transformation part 40 for sending a third control command to a manipulator control unit 17 and sending a fourth control command to a visual field change control unit 18 so as to make an agreement between a motion direction of a video of the slave manipulator 1 displayed on the display device 6 and an operation direction of the operation means 9 on the basis of an operation command read by the operating means control unit 15 when in the observation means visual field tracking clutch mode. <P>COPYRIGHT: (C)2009,JPO&INPIT |
