Manipulator and its control apparatus and method

Details Manipulator and its control apparatus and method Manipulator and its control apparatus and method

2006-01-31

2006-01-31

Starks, Jr., Wilbert L. (Department: 2121)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

C700S003000, C700S062000, C700S065000, C700S075000, C700S172000, C700S302000, C702S151000, C709S209000, C318S568170, C318S568210, C901S030000, C606S001000

Reexamination Certificate

active

06993413

ABSTRACT:
A manipulator operative in a master/slave operative mode, comprising: a master unit commanding an operation; a slave unit having a work unit; a detector detecting the orientation of the master unit and the orientation of the slave unit; and a control device controlling the slave unit in response to the command from the master unit, wherein the control device includes: a function of determining a non-mater/slave operative mode or a master/slave operative mode; a function of calculating a difference between the orientation of the master unit and the orientationof the slave unit; and a function of comparing the absolute value of the difference with a preset reference value; and depending upon the result of the comparison, determining a normal master/slave operative mode or a transitional master/slave operative mode, in the master/slave operative mode, the transitional master/slave operative mode is a transitional mode from the non-master/slave operative mode to the master/slave operative mode.

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Makoto Jinno, et al., U.S. Appl. No. 11/090,163, filed Mar. 28, 2005.

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