MASTER SLAVE TYPE MANIPULATOR SYSTEM AND ITS OPERATION INPUT DEVICE

摘要

PROBLEM TO BE SOLVED: To provide a master slave type manipulator system capable of force-sensuously presenting limits of obstacles and operation ranges without using a motor for an operation input device and having excellent reliability, compactness and improved operability.;SOLUTION: This system is provided with manipulators 110 and 130 having arms, the operation input device 190 for moving the arm of the manipulator 130, and controllers 145 and 150 for controlling the manipulators 110 and 130 and the operation input device 190. The operation input device 190 is provided with an operation direction limiting and switching mechanism capable of selecting a power transmission connecting direction by disconnecting or connecting a power transmission from/to the joint.;COPYRIGHT: (C)2007,JPO&INPIT