Patent ID: 8504206
Filing Date: 2013-08-06
Classification: B25J

Abstract:
1. A control apparatus for a master-slave robot having a slave manipulator that grips an object and performs a task while touching an object to be worked, and a master manipulator that causes a person to remote-control the slave manipulator, the control apparatus comprising: a speed information acquiring unit that acquires speed information of a hand of the slave manipulator; a force information acquiring unit that acquires force information externally applied to the slave manipulator; a force correction section detecting unit that detects a force correction section serving as information of a zone that is required to be corrected in the force information on the basis of (i) the force information acquired by the force information acquiring unit and (ii) the speed information acquired by the speed information acquiring unit; a force correcting unit that corrects the force information in the zone detected by the force correction section detecting unit; a force transmitting unit that transmits the force information from the force correcting unit to the master manipulator; a master control unit that controls manipulation information of the master manipulator when the person manipulates the master manipulator on basis of the force information from the force transmitting unit; and a slave control unit that is connected to the slave manipulator and the master control unit and outputs a control signal transmitting the manipulation information of the master manipulator sent from the master control unit to the slave manipulator, wherein the force correction section detecting unit detects a force correction position serving as any one of (i) force information in a zone in which an absolute value of the force information is corrected so as to be increased and (ii) force information in a zone in which the force information is not corrected, from the force information acquired by the force information acquiring unit, and wherein the force correcting unit corrects the force information so as to increase the absolute value of the force information detected by the force correction section detecting unit in the zone in which the absolute value is increased.