MASTER-SLAVE MANIPULATOR APPARATUS AND METHOD THEREFOR, FURTHER TRAINING APPARATUS FOR MANIPULATOR OPERATION INPUT AND METHOD THEREFOR

摘要

A master-slave manipulator apparatus and a control methodtherefor, in which a movement which an operator does not intendis prevented from, thereby reflecting the operator's intentionaccurately and correctly, comprises : a master manipulator 1 forconducting an operation input therewith, a controller 4 forprocessing the operation input, and a slave manipulator 12 foroperating upon drive instruction from the controller, wherein themaster manipulator 1 comprises a plurality of force detectors 201- 20N, and the controller 4 decide a driver shaft, by comparingan output from a pattern producing means 5 for producing ageneration pattern of the outputs of the plurality of forcedetectors to a pattern stored in a memory means 38 in advance,thereby removing the operation input which is causedunconsciously in the operation input of the master manipulator.