Control system for articulated manipulator arm

摘要

The control system for the arm which has at least three degrees of freedom, comprises a master controller 10 moveable to replicate the at least three degrees of freedom of the manipulator arm. Means for determining the rate of movement of the master controller in each direction replicating a degree of freedom of the manipulator arm are provided, and the system comprises control means for controlling actuation of the manipulator arm so that the rate of movement of the manipulator arm in each of said at least three degrees of freedom is proportional to the rate of movement of the master controller in each direction replicating a degree of freedom of the manipulator arm.