MASTER-SLAVE MANIPULATOR DEVICE CONTROL METHOD, AND MANIPULATOR OPERATION INPUT TRAINING METHOD

摘要

PROBLEM TO BE SOLVED: To provide a master-slave manipulator device and a control method capable of preventing moves not intended by an operator, and correctly reflecting the intention of the operator. SOLUTION: This device is provided with a master manipulator to make operation input, a control part 4 to process the operation input, and a slave manipulator 12 to move based on drive instructions from the control part 4. In this case, the master manipulator 1 is provided with plural force detection means 201-20N to detect the operation input, and the control part 4 compares output from a pattern generating means 5 to generate a generation pattern of output from the plural force detection means 210-20N with a pattern preliminarily stored in a memory means 38 to determine a drive shaft, and eliminates the operation input of the master manipulator 1 unconciously generated.