| 摘要 |
PROBLEM TO BE SOLVED: To provide a master slave manipulator on head ends of a master slave manipulator and a slave manipulator of which a tool is installed and which is capable of moving differently by the master manipulator and the slave manipulator. SOLUTION: This master slave manipulator is furnished with an operation handle 3 arranged on the master manipulator 1 through a power sensor S2, a joy stick 6 arranged on the master manipulator to be in parallel with the operation handle, a change-over switch 9b to switch an operating object by the joy stick over to the master manipulator 1 or to the slave manipulator 2 and a control device 8. Consequently, the manipulator designated by the operation handle can be operated by the joy stick in addition to master slave operation by the operation handle. COPYRIGHT: (C)2006,JPO&NCIPI
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