JPS63100173U - - Google Patents
Info
- Publication number
- JPS63100173U JPS63100173U JP19371186U JP19371186U JPS63100173U JP S63100173 U JPS63100173 U JP S63100173U JP 19371186 U JP19371186 U JP 19371186U JP 19371186 U JP19371186 U JP 19371186U JP S63100173 U JPS63100173 U JP S63100173U
- Authority
- JP
- Japan
- Prior art keywords
- arm
- slave
- master
- switch
- slave arm
- 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.)
- Granted
Links
- 238000010586 diagram Methods 0.000 description 3
Description
第１図は実施例装置の制御のフローチヤート、
第２図はイニシヤライズのフローチヤート、第３
図はインデツクス制御時の装置構成図、第４図は
マスタ・フリー制御時の装置構成図、第５図ａ，
ｂ及び第６図ａ，ｂはそれぞれインデツクス値の
説明図である。
図面中、１はマスタ側制御演算装置、２，３，
５，６は工学変換器、４はスレーブ側制御演算装
置、７はスイツチ、８はホールド値用メモリ、９
はインデツクス値用メモリ、１０はマスタアーム
、１１はスレーブアームである。
FIG. 1 is a flowchart of the control of the embodiment device;
Figure 2 is a flowchart of initialization, Figure 3
The figure is a diagram of the device configuration during index control, Figure 4 is a diagram of the device configuration during master free control, and Figure 5a,
b and FIGS. 6a and 6b are explanatory diagrams of index values, respectively. In the drawing, 1 is a master side control calculation device, 2, 3,
5 and 6 are engineering converters, 4 is a slave-side control arithmetic unit, 7 is a switch, 8 is a hold value memory, 9
1 is a memory for index values, 10 is a master arm, and 11 is a slave arm.
Claims (1)
御装置において、 制御モードを切換えるためのスイツチと、この
スイツチのオン及びオフのうち一方の動作により
マスタアームとスレーブアームとの結合を解除し
且つスレーブアームを現状態に保持する制御手段
と、前記スイツチが一方の動作の間スレーブアー
ムとマスタアームとの偏差をインデツクス値とし
て記憶する記憶手段と、前記スイツチの他方の動
作によりマスタアームとスレーブアームとを結合
し且つマスタアームの現在値と記憶されたインデ
ツクス値との和をスレーブアームの目標値とする
制御手段とを具備することを特徴とするマスタ／
スレーブ型サーボマニピユレータのインデツクス
制御装置。[Claims for Utility Model Registration] In a control device for a master/slave type servo manipulator, there is provided a switch for switching the control mode, and a connection between the master arm and the slave arm by turning the switch on or off. control means for releasing the slave arm and keeping the slave arm in its current state; storage means for storing the deviation between the slave arm and the master arm as an index value during one operation of the switch; A master arm and a slave arm are connected to each other, and the master arm and the slave arm are connected to each other.
Index control device for slave type servo manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1986193711U JPH0810520Y2 (en) | 1986-12-18 | 1986-12-18 | Master / slave type servomanipulator index controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1986193711U JPH0810520Y2 (en) | 1986-12-18 | 1986-12-18 | Master / slave type servomanipulator index controller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS63100173U true JPS63100173U (en) | 1988-06-29 |
| JPH0810520Y2 JPH0810520Y2 (en) | 1996-03-29 |
Family
ID=31149991
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1986193711U Expired - Lifetime JPH0810520Y2 (en) | 1986-12-18 | 1986-12-18 | Master / slave type servomanipulator index controller |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0810520Y2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016125398A1 (en) * | 2015-02-03 | 2016-08-11 | オリンパス株式会社 | Medical manipulator system and control method therefor |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5779525A (en) * | 1980-11-06 | 1982-05-18 | Kobe Steel Ltd | Method and device for control master-slave type manipulator |
| JPS5947174A (en) * | 1982-09-10 | 1984-03-16 | 株式会社東芝 | Maste-slave type servo manipulator |
| JPS61244470A (en) * | 1985-04-23 | 1986-10-30 | 株式会社 アマダ | Master/slave type robot |
-
1986
- 1986-12-18 JP JP1986193711U patent/JPH0810520Y2/en not_active Expired - Lifetime
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5779525A (en) * | 1980-11-06 | 1982-05-18 | Kobe Steel Ltd | Method and device for control master-slave type manipulator |
| JPS5947174A (en) * | 1982-09-10 | 1984-03-16 | 株式会社東芝 | Maste-slave type servo manipulator |
| JPS61244470A (en) * | 1985-04-23 | 1986-10-30 | 株式会社 アマダ | Master/slave type robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016125398A1 (en) * | 2015-02-03 | 2016-08-11 | オリンパス株式会社 | Medical manipulator system and control method therefor |
| JP6084342B2 (en) * | 2015-02-03 | 2017-02-22 | オリンパス株式会社 | Medical manipulator system and control method thereof |
| US10321965B2 (en) | 2015-02-03 | 2019-06-18 | Olympus Corporation | Medical manipulator system and method for controlling thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0810520Y2 (en) | 1996-03-29 |