| 摘要 |
PROBLEM TO BE SOLVED: To carry out a minute turn with accuracy even when turning radius of a slave arm is increased. SOLUTION: A slave arm 2 is so controlled as to move while following up a master arm by means of a control part. In the control part, a reference angle accelerationα0 and a reference turning radius r0 in turning of a turning base 21 of the slave arm 2 are previously set. In order to actually turn the turning base 21, an actual turning radius r' of the slave arm 2 at that time is obtained. Based on the turning radius r', the following calcuation is done;α'=(r0 /r')×α0 , whereα' is angular acceleration. The turning base 21 is turned with the angular accelerationα'. Even when the turning radius is varied, therefore, the acceleration in the turning direction is kept constant, that is, the reference acceleration a0 . Even when the turning radius of the slave arm 2 is increased, a minute turn is thus carried out with accuracy.
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