JPH04101789A - Manipulator - Google Patents

Manipulator

Info

Publication number
JPH04101789A
JPH04101789A JP21910790A JP21910790A JPH04101789A JP H04101789 A JPH04101789 A JP H04101789A JP 21910790 A JP21910790 A JP 21910790A JP 21910790 A JP21910790 A JP 21910790A JP H04101789 A JPH04101789 A JP H04101789A
Authority
JP
Japan
Prior art keywords
amplification factor
part
gripping
grip
force
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP21910790A
Inventor
Masayuki Mukoda
Tomoaki Toratani
Original Assignee
Furukawa Electric Co Ltd:The
Tokyo Electric Power Co Inc:The
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Furukawa Electric Co Ltd:The, Tokyo Electric Power Co Inc:The filed Critical Furukawa Electric Co Ltd:The
Priority to JP21910790A priority Critical patent/JPH04101789A/en
Publication of JPH04101789A publication Critical patent/JPH04101789A/en
Application status is Pending legal-status Critical

Links

Abstract

PURPOSE: To improve the working efficiency by reducing the amplification factor of a force feedback gain amplifier, corresponding to the size of the gripping force that an operator grips a grip.
CONSTITUTION: A signal is output corresponding to the strength of the gripping force gripping a grip G, from this grip G gripping when an operator operates a master arm μA, the amplification factor K1 of a servogain amplifier SGA and the amplification factor K2 of a force feedback gain amplifier FGA are changed, based on this output signal. Then, the other part of the amplification factor K2 is reduced when one part of the amplification factor K1 is increased and the other part of the amplification factor K2 is increased when one part of the amplification factor K1 is reduced, on the change of these amplification factors K,1 K2.
COPYRIGHT: (C)1992,JPO&Japio
JP21910790A 1990-08-22 1990-08-22 Manipulator Pending JPH04101789A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP21910790A JPH04101789A (en) 1990-08-22 1990-08-22 Manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP21910790A JPH04101789A (en) 1990-08-22 1990-08-22 Manipulator

Publications (1)

Publication Number Publication Date
JPH04101789A true JPH04101789A (en) 1992-04-03

Family

ID=16730368

Family Applications (1)

Application Number Title Priority Date Filing Date
JP21910790A Pending JPH04101789A (en) 1990-08-22 1990-08-22 Manipulator

Country Status (1)

Country Link
JP (1) JPH04101789A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012029227A1 (en) * 2010-08-31 2012-03-08 パナソニック株式会社 Controller and control method for master-slave robot, master-slave robot, control program, and integrated electronic circuit
JP2013529559A (en) * 2010-07-02 2013-07-22 コミサリヤ ア レネルジ アトミク エ ウ エネルジ アルタナティブ Robot device for assisting the operation with various forces increase
JP2016020024A (en) * 2014-06-16 2016-02-04 パナソニックIpマネジメント株式会社 Control device and control method for master-slave robot, master-slave robot, control program for master-slave robot, and integrated electronic circuit for control of master-slave robot

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013529559A (en) * 2010-07-02 2013-07-22 コミサリヤ ア レネルジ アトミク エ ウ エネルジ アルタナティブ Robot device for assisting the operation with various forces increase
WO2012029227A1 (en) * 2010-08-31 2012-03-08 パナソニック株式会社 Controller and control method for master-slave robot, master-slave robot, control program, and integrated electronic circuit
JP5032716B2 (en) * 2010-08-31 2012-09-26 パナソニック株式会社 Control apparatus and a control method of a master slave robot, and a control program
US8504206B2 (en) 2010-08-31 2013-08-06 Panasonic Corporation Control apparatus and method for master-slave robot, master-slave robot, control program, and integrated electronic circuit
US9089967B2 (en) 2010-08-31 2015-07-28 Panasonic Intellectual Property Management Co., Ltd. Control apparatus and method for master-slave robot, master-slave robot, control program, and integrated electronic circuit
JP2016020024A (en) * 2014-06-16 2016-02-04 パナソニックIpマネジメント株式会社 Control device and control method for master-slave robot, master-slave robot, control program for master-slave robot, and integrated electronic circuit for control of master-slave robot

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