CONTROL METHOD FOR BILATERAL MASTER-SLAVE MANIPULATOR

摘要

PURPOSE:To enable smooth manipulation while an operator senses true reaction force by returning a value obtained by subtracting an integrating operation amount of a slave servo system from output of a torque sensor as reaction force to a master servo system when a slave arm is brought into contact with a fixed portion. CONSTITUTION:When a detector 8 detects that a slave arm is brought into contact with a fixed portion, a deviation THETA between a master axis angle THETA1 and a slave axis angle THETA2 which are detected by sensors 1, 2 is increased, so that the slave axis velocity (v) becomes substantially zero to close a switch 9. A computing element C' obtains a deviation THETA in a controller C and subtracts it from output (reaction force) of a torque sensor 5 for detecting torque of a motor 4 to be returned to a motor 3 of a master servo system. Accordingly, an operator can conduct smooth manipulation while sensing true reaction force where actual phenomenon is influenced.