Patent ID: 8009140

Claim:
A master-slave manipulator system comprising: a manipulator having an end effector; a camera imaging said manipulator and a working area of said manipulator; a monitor displaying an image which said camera images so as to provide; an operation input device outputting a command for operating said manipulator; a master controller generating and outputting a control reference data on the basis of the command of said operation input device; and a manipulator controller controlling a position and orientation of said manipulator on the basis of the control reference data output from said master controller, wherein said master controller comprises: an information acquisition portion for operation command acquiring an operation reference data on the basis of the command by said operation input device; an acquirement information division portion dividing said operation reference data into a position movement reference data and an orientation reference data; and a moving direction compensation controller compensating said position movement reference data on the basis of said orientation reference data so as to output a position moving command compensation information, and wherein said manipulator controller is structured to control the position and orientation of said manipulator on the basis of said position moving command compensation information and said orientation reference data.