| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an operation support apparatus capable of feeding back loads of driving parts to a controller more accurately and speedily, and capable of improving the controllability. <P>SOLUTION: A manipulator driving mechanism is provided in a manipulator 3. A direct-driving type slave-side motor 14 is provided in the manipulator driving mechanism 21, and a direct-driving type master-side motor 6 is provided in a joint part of the controller 1. The controller 1 is controlled to receive force/torque feedback from the manipulator 3. <P>COPYRIGHT: (C)2006,JPO&NCIPI |
