DUAL-ARM MANIPULATOR OPERATING DEVICE

摘要

PROBLEM TO BE SOLVED: To provide an operating device for a master-slave type dual-arm manipulator that allows the feedback of working reaction to the operator by means of opposed master arms, prevents any interference between the articulated links of the master arms and involves a power assist mechanism. ;SOLUTION: A right-hand master arm 14a and a left-hand master arm 14b are each constituted of a vertical link 22a, 22b and a horizontal link 23a, 23b articulated with the vertical link 22a, 22b for gravitational movement. The horizontal links 23a and 23b are thus positioned in the direction of gravity independently of each other. Those links are each provided with an actuator such as an electric motor, which detects the operating force of the operator for later power assistance.;COPYRIGHT: (C)1999,JPO