Patent ID: 6470236
Filing Date: 2002-10-22
Classification: A61B,B25J,G05B

Abstract:
A manipulator system comprising a first master manipulator including a first handling part handled by a first operator, a second master manipulator including a second handling part handled by a second operator, and a slave manipulator including a treating part for treating an object,the first master manipulator comprising: first detection means for detecting an absolute attitude, in a space within which the first handling part is allowed to move, of the first handling part; and first transmission means for transmitting the absolute attitude of the first handling part; the second master manipulator comprising: second detection means for detecting an absolute attitude, in a space within which the second handling part is allowed to move, of the second handling part; and second transmission means for transmitting the absolute attitude of the second handling part; the slave manipulator comprising: first acquisition means for acquiring the absolute attitude of the first handling part transmitted from the first transmission means of the first master manipulator, and the absolute attitude of the second handling part transmitted from the second transmission means of the first master manipulator; first consolidation means for consolidating the absolute attitude of the first handling part and the absolute attitude of the second handling part; and first control means for controlling the attitude of the treating part in accordance with the result of the consolidation performed by the first consolidation means.