| 摘要 |
<p>The present invention relates to a master/slave manipulator and a method for controlling the same in which a wide working area and good controllability can be provided and moreover corresponding position shift and enlargement ratio change can also be attained. To this end, a plurality of representing points are set on and inside a closed surface (A1) of an operating area (A) of one manipulator, while a plurality of target points corresponding to the plurality of representing points are set on and inside a closed surface (B1) of a working area (B) of the other manipulator. Working amounts (β1, β2; υ1, υ2) when the leading ends (11, 12) of the one manipulator and the other manipulator reach respectively the plurality of representing points and the plurality of target points and a corresponding relationship between the working amounts of the two manipulators are obtained, and when the slave (2) is to be operated, the working amounts (β1, β2) 2) of the master are converted into working amounts (υ1, υ2) of the slave (2) to thereby operate the slave (2).</p> |
