JPS5779525A - Method and device for control master-slave type manipulator - Google Patents

Method and device for control master-slave type manipulator

Info

Publication number
JPS5779525A
JPS5779525A JP15669880A JP15669880A JPS5779525A JP S5779525 A JPS5779525 A JP S5779525A JP 15669880 A JP15669880 A JP 15669880A JP 15669880 A JP15669880 A JP 15669880A JP S5779525 A JPS5779525 A JP S5779525A
Authority
JP
Japan
Prior art keywords
manipulator
slave
master
movement
follow
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
JP15669880A
Other languages
Japanese (ja)
Inventor
Kosei Ueda
Haruo Okumura
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kobe Steel Ltd
Original Assignee
Kobe Steel Ltd
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 Kobe Steel Ltd filed Critical Kobe Steel Ltd
Priority to JP15669880A priority Critical patent/JPS5779525A/en
Publication of JPS5779525A publication Critical patent/JPS5779525A/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • G05D3/14—Control of position or direction using feedback using an analogue comparing device

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Feedback Control In General (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

PURPOSE:To improve the performance of maneuvering by decreasing the operation range of a master manipulator when a slave manipulator having a 1:1 follow-up ratio moves over a wide range, by moving the slave manipulator in the same direction with the mastrer manipulator equivalently to the extent of the summed movement in one direction of the master manipulator. CONSTITUTION:An operation/stop changeover switch 11 is placed at a stop side and a forward-movement switch 12 is turned on. Then, the current value of a slave position detector 4 is held in a smaple holding circuit 10 to be added to the output of a master position detector 1, thus obtaining the target value of a servosystem. When the forward-movement switch 12 is turned off and the changeover switch 11 is changed over to an opertion side, the amplification factor of a servomotor amplifier 5 is so determined that a slave manipulator follows up a master manipulator at 1:1 from the position at that time. This operation is repeated to move the slave over a wide range at a 1:1 follow-up ratio, thereby improving the performance of operation.
JP15669880A 1980-11-06 1980-11-06 Method and device for control master-slave type manipulator Pending JPS5779525A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP15669880A JPS5779525A (en) 1980-11-06 1980-11-06 Method and device for control master-slave type manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP15669880A JPS5779525A (en) 1980-11-06 1980-11-06 Method and device for control master-slave type manipulator

Publications (1)

Publication Number Publication Date
JPS5779525A true JPS5779525A (en) 1982-05-18

Family

ID=15633377

Family Applications (1)

Application Number Title Priority Date Filing Date
JP15669880A Pending JPS5779525A (en) 1980-11-06 1980-11-06 Method and device for control master-slave type manipulator

Country Status (1)

Country Link
JP (1) JPS5779525A (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS597500A (en) * 1982-07-07 1984-01-14 Aida Eng Ltd Divided frame of large sized press
JPS6067085A (en) * 1983-09-26 1985-04-17 株式会社東芝 Method of controlling master-slave type manipulator
JPS61244470A (en) * 1985-04-23 1986-10-30 株式会社　アマダ Master/slave type robot
JPS61252082A (en) * 1985-05-01 1986-11-10 株式会社　アマダ Master arm
JPS63100173U (en) * 1986-12-18 1988-06-29

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS597500A (en) * 1982-07-07 1984-01-14 Aida Eng Ltd Divided frame of large sized press
JPH038880B2 (en) * 1982-07-07 1991-02-07 Aida Eng Ltd
JPS6067085A (en) * 1983-09-26 1985-04-17 株式会社東芝 Method of controlling master-slave type manipulator
JPS61244470A (en) * 1985-04-23 1986-10-30 株式会社　アマダ Master/slave type robot
JPS61252082A (en) * 1985-05-01 1986-11-10 株式会社　アマダ Master arm
JPS63100173U (en) * 1986-12-18 1988-06-29

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