| 摘要 |
PURPOSE:To avoid unnecessary movement of a joint of a master arm from affecting on a finger of a slave arm, by deciding whether a deviation signal at the joint is within a specified range or not. CONSTITUTION:When the control is progressed and a deviation signal DELTAE is within a specified range, an output of a dead band element 100 is zero. A brake 101 is activated and a slave arm 2 is fixed to the present position. Simultaneously, a driving power supply is interrupted to a driving device 6'. But no driving control signal relating to the control system is interrupted. A reference is provided for a master arm 1 to make thetaM coincident with thetaS and the operator receives a reaction force corresponding to -DELTAE=thetaS-thetaM. The driving power supply of the driving device 6' is interrupted with the operation of the brake 101. |
