| 摘要 |
PROBLEM TO BE SOLVED: To provide a manipulator capable of performing smooth work remotely for the object to be worked. SOLUTION: A position signal and force signal of a master manipulator 3 by work simulation performed relating to a work object model device 4 by operating the master manipulator 3 are stored in a data memory means 8, a moving route of a manipulator 1 for work and torque output at this time are calculated by a calculating means 9 based on similarity ratio of a work object 2 to the work object model device 4, the similarity ratio of the manipulator 1 for work to the master manipulator, and the position signal and force signal of the master manipulator 3 stored in the data memory means 8. A drive control means 10 controls a motor of the manipulator 1 for work driven so as to satisfy the moving route of the manipulator 1 for work and the force signal output at this time calculated in the calculating means 9.
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