| 摘要 |
PURPOSE:To smooth the operation of non-contact time and to stably keep a control system even at the contact time by forming the structure of changing over a control method in at least one part of movement controllers of 1st, 2nd movement controllers based on the contact of a slave/manipulator and body. CONSTITUTION:In case of a slave/manipulator 2 being not brought into contact with a desk 11, the reaction force detected by a detectof 7 is zero, so the force applied for operating a master/manipulator 1 by a man is fedback to a torque adjuster 9 and the master/manipulator 1 is driven by a motor 3 in the direction on which a man applied force. So in case of setting the gain of this adjuster 9 larger, the master/computor 1 can be operated with small force. On the other hand, in case of the slave/manipulator 2 being brought into contact with the desk 11, small gain is selected on both the torque adjuster 9 and a position adjuster 10 and a control system is stably held. |
