JPS6434686A - Master/slave manipulator - Google Patents
Master/slave manipulatorInfo
- Publication number
- JPS6434686A JPS6434686A JP18922387A JP18922387A JPS6434686A JP S6434686 A JPS6434686 A JP S6434686A JP 18922387 A JP18922387 A JP 18922387A JP 18922387 A JP18922387 A JP 18922387A JP S6434686 A JPS6434686 A JP S6434686A
- Authority
- JP
- Japan
- Prior art keywords
- expansion mechanism
- device side
- operating tool
- operating
- reaction force
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Control Of Position Or Direction (AREA)
- Manipulator (AREA)
Abstract
PURPOSE: To properly cope with an expansion mechanism when it is close to a limit of the compaction, by mounting an exciting means for increasing the operating reaction force to be given to a master device side operating tool corresponding to the decrease of a distance between an operating tool and the tip of a slave device side working part, which is changed by the expanding and contracting action of the expansion mechanism. CONSTITUTION: An expansion mechanism 18 is mounted between a point of a slave device side working part and an operating tool A. A distance between the operating tool A and the tip of the working part, which his changed by the expanding and contracting action of this expansion mechanism 18, is detected by a ranging means 27. The operating reaction force to be given to a master device side operating tool is forcibly increased by an exciting means 16D corresponding to the decrease of the distance detected by this ranging means 27. Whereby an operator can be surely known that the expanding condition of the expansion mechanism 18 is close to a limit of the comapction on the basis of the increase of the operating reaction force, so that the operator can properly cope with the same.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP18922387A JPS6434686A (en) | 1987-07-29 | 1987-07-29 | Master/slave manipulator |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP18922387A JPS6434686A (en) | 1987-07-29 | 1987-07-29 | Master/slave manipulator |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS6434686A true JPS6434686A (en) | 1989-02-06 |
Family
ID=16237635
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP18922387A Pending JPS6434686A (en) | 1987-07-29 | 1987-07-29 | Master/slave manipulator |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS6434686A (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2012029227A1 (en) | 2010-08-31 | 2012-03-08 | パナソニック株式会社 | Controller and control method for master-slave robot, master-slave robot, control program, and integrated electronic circuit |
CN107848114A (en) * | 2015-08-25 | 2018-03-27 | 川崎重工业株式会社 | Industrial robot and its method of operation |
-
1987
- 1987-07-29 JP JP18922387A patent/JPS6434686A/en active Pending
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2012029227A1 (en) | 2010-08-31 | 2012-03-08 | パナソニック株式会社 | Controller and control method for master-slave robot, master-slave robot, control program, and integrated electronic circuit |
US8504206B2 (en) | 2010-08-31 | 2013-08-06 | Panasonic Corporation | Control apparatus and method for master-slave robot, master-slave robot, control program, and integrated electronic circuit |
US9089967B2 (en) | 2010-08-31 | 2015-07-28 | Panasonic Intellectual Property Management Co., Ltd. | Control apparatus and method for master-slave robot, master-slave robot, control program, and integrated electronic circuit |
CN107848114A (en) * | 2015-08-25 | 2018-03-27 | 川崎重工业株式会社 | Industrial robot and its method of operation |
JPWO2017033376A1 (en) * | 2015-08-25 | 2018-06-14 | 川崎重工業株式会社 | Industrial robot and driving method thereof |
US10856945B2 (en) | 2015-08-25 | 2020-12-08 | Kawasaki Jukogyo Kabushiki Kaisha | Industrial robot and method of operating the same |
JP2021053802A (en) * | 2015-08-25 | 2021-04-08 | 川崎重工業株式会社 | Industrial robot and operation method thereof |
CN107848114B (en) * | 2015-08-25 | 2021-04-20 | 川崎重工业株式会社 | Industrial robot and method for operating same |
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