Boots – shoes – and leggings
Patent
1997-03-20
1999-09-07
Gordon, Paul P.
Boots, shoes, and leggings
395 95, G06F 1700, G05B 1500
Patent
active
059496860
DESCRIPTION:
BRIEF SUMMARY
TECHNICAL FIELD
The present invention relates to a master/slave manipulator and a method for controlling the same, and particularly to the master/slave manipulator and the method for controlling the same which are suitable for a command transfer system between a master manipulator and a slave manipulator.
BACKGROUND ART
A master/slave manipulator is recently receiving attention since an operator can carry out a slave operation of a slave manipulator (hereinafter referred to as a slave) by operating a master manipulator (hereinafter referred to as a master). In the master/slave manipulators, there are master/slave manipulators with a non-similar construction in which the forms of a master 1 and a slave 2 are not similar as illustrated in FIGS. 19A and 19B. The master/slave manipulators with a non-similar construction have an advantage of being capable of dealing with various kinds of operations, since the constructions and specifications of the master 1 and slave 2 can be properly selected according to the nature of an operation and the intentions of an operator.
However, in most of the above-described master/slave manipulators with a non-similar construction, an operating area A of a leading end 11 of the master 1 and a working area B of a leading end 21 of the slave 2 are not similar, as FIGS. 19A and 19B illustrate. Therefore, as FIG. 19C illustrates, when an area A', which is the similarly enlarged operating area A, is to be brought into correspondence with the working area B, the boundaries do not match and part of the areas extends off. The master/slave manipulators having the above-described areas A and B have the following disadvantages.
(1) In the areas like the areas Aa and Ab (diagonally shaded hatching portions), which the leading end 21 of the slave 2 cannot reach, the slave 2 does not follow the master 1 even if the master 1 is operated.
(2) The leading end 21 of the slave 2 following the master 1 cannot reach the areas like the areas Ba and Bb (vertically shaded hatching portions), which the leading end 11 of the master 1 cannot reach. Specifically, the leading end 21 of the slave 2 can be operated only in the area other than the areas Ba and Bb in the basic operating area B.
Depending on settings by a design engineer, the following disadvantages may be caused.
(3) Even if an operation prohibited area BB (the working area B+the operation prohibited area BB=a slave movable area) is set for the leading end 21 of the slave 2 for various reasons, in the case that the operating area A of the leading end 11 of the master 1 is overlaid on the area BB, if the master 1 is operated, the slave 2 operates even though the leading end 21 of the slave 2 is in the operation prohibited area BB.
Specifically, common operating area of the master 1 and the slave 2 becomes small, therefore disadvantages of a reduced operating capability, worsened operability, and increasing dangers are caused.
Naturally, by bringing the working amounts .beta.1 and .beta.2 of each degree of freedom of the master 1 in a one-to-one correspondence with the working amounts .theta.1 and .theta.2 of each degree of freedom of the slave 2, the entire operating area A is brought into correspondence with the entire working area B, and the above-described common operating area can be at its maximum. However, a concrete corresponding relationship between the degrees of freedom of the master 1 and the slave 2 is at a linear correspondence level, and no corresponding relationship with a special meaning is given (for example, Japanese Patent Application Laid-open No. 2-145272).
Here, disadvantages in a case of linear correspondence is specifically described. For example, in a linear correspondence in FIGS. 19A and 19B, the working amount (for example, a rotary working amount .theta.1 of a first axis of the slave 2 is brought in a linear correspondence with the working amount (for example, a rotary working amount) .beta.1 of a first axis of the master 1 and the rotary working amount .theta.2 of a second axis of the slave 2 is brought in a lin
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Okamura Kenji
Yanagi Kunikazu
Yoshinada Hiroshi
Gordon Paul P.
Komatsu Ltd.
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