Importance

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Abstract

A control device provided between a master device having a given articulation configuration and a given degree of freedom and a slave manipulator having a given articulation configuration and a given degree of freedom, for causing faithful operation of the slave manipulator according to operation command signals from the master device, comprising: a first position coordinate converter for converting signals of position information concerning articulations of the master device into signals of position information concerning a hand of the master device in a common operating space coordinate system; a selector for selecting specific signals from the output signals of said first position coordinate converter; a second position coordinate converter for converting the signals supplied by said selector into signals of position information concerning the articulations of the slave manipulator; a first controller for giving drive force signals to actuators for the slave manipulator according to the differences between the output signals from said second position coordinate converter and position information signals from the slave manipulator; a first force coordinate converter for converting signals of force information concerning articulations detected by the slave manipulator into signals of force information concerning a hand of the slave manipulator in the common operating space coordinate system; a second force coordinate converter for converting the signals of force information concerning the hand of the slave manipulator into signals of force information concerning the articulations of the master device, and a second controller for giving drive force signals to actuators for the master device according to the differences between the output signals from said second force cordinate converter and force information signals detected by the master device.

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First Claim