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JPS6434686A - Master/slave manipulator - Google Patents

Master/slave manipulator

Info

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
Application number
JP18922387A
Other languages
Japanese (ja)
Inventor
Yoshiaki Tsuchiya
Yoshiyuki Kitora
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kubota Corp
Original Assignee
Kubota Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Kubota Corp filed Critical Kubota Corp
Priority to JP18922387A priority Critical patent/JPS6434686A/en
Publication of JPS6434686A publication Critical patent/JPS6434686A/en
Pending legal-status Critical Current

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.
JP18922387A 1987-07-29 1987-07-29 Master/slave manipulator Pending JPS6434686A (en)

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)

* Cited by examiner, † Cited by third party
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

Cited By (8)

* Cited by examiner, † Cited by third party
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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