JPS63154184U - - Google Patents
Info
- Publication number
- JPS63154184U JPS63154184U JP4690187U JP4690187U JPS63154184U JP S63154184 U JPS63154184 U JP S63154184U JP 4690187 U JP4690187 U JP 4690187U JP 4690187 U JP4690187 U JP 4690187U JP S63154184 U JPS63154184 U JP S63154184U
- Authority
- JP
- Japan
- Prior art keywords
- elbow joint
- master
- angle sensor
- joint
- drive unit
- 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
Links
- 210000002310 elbow joint Anatomy 0.000 claims description 6
- 210000000323 shoulder joint Anatomy 0.000 claims description 2
- 238000005452 bending Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 2
Description
第１図は、本考案の実施例を示す説明図、第２
図は、本考案の実施例を示すブロツク図、第３図
は、マスターアームの操作を示す説明図、第４図
は、マスターアームの伸びきつた状態を示す説明
図である。
図面中、１０はマスターアーム、１１は肩関節
、１２は肘関節、１３はグリツプ、２０は操縦者
、３０は角度センサ、４０は制御部、５０は駆動
部である。
FIG. 1 is an explanatory diagram showing an embodiment of the present invention, and FIG.
The figure is a block diagram showing an embodiment of the present invention, FIG. 3 is an explanatory view showing the operation of the master arm, and FIG. 4 is an explanatory view showing the master arm in a fully extended state. In the drawings, 10 is a master arm, 11 is a shoulder joint, 12 is an elbow joint, 13 is a grip, 20 is an operator, 30 is an angle sensor, 40 is a control unit, and 50 is a drive unit.
Claims (1)
ームを備えたマスタースレーブ式マニピユレータ
において、 前記マスターアームの肘関節の角度を検出する
角度センサと、前記肘関節を動作させる駆動部と
、前記角度センサによつて前記肘関節がほぼ直線
状に伸びた状態又はその状態に近づいたことを検
出すると信号が入力され、前記肘関節を屈曲する
方向に曲げるよう前記駆動部に駆動信号を出力す
る制御部とを具備したことを特徴とするマスター
スレーブ式マニピユレータ。[Claims for Utility Model Registration] A master-slave manipulator including a master arm having at least a shoulder joint and an elbow joint, comprising: an angle sensor that detects the angle of the elbow joint of the master arm; and a drive unit that operates the elbow joint. When the angle sensor detects that the elbow joint is in a substantially linearly extended state or approaching that state, a signal is input, and a drive signal is sent to the drive unit to bend the elbow joint in a bending direction. A master-slave type manipulator, characterized in that it is equipped with a control unit that outputs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4690187U JPS63154184U (en) | 1987-03-31 | 1987-03-31 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4690187U JPS63154184U (en) | 1987-03-31 | 1987-03-31 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS63154184U true JPS63154184U (en) | 1988-10-11 |
Family
ID=30866996
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4690187U Pending JPS63154184U (en) | 1987-03-31 | 1987-03-31 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS63154184U (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5648496B2 (en) * | 1974-02-21 | 1981-11-16 | ||
| JPS59146770A (en) * | 1983-02-07 | 1984-08-22 | 株式会社日立製作所 | Limiter for range of operation of manipulator |
-
1987
- 1987-03-31 JP JP4690187U patent/JPS63154184U/ja active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5648496B2 (en) * | 1974-02-21 | 1981-11-16 | ||
| JPS59146770A (en) * | 1983-02-07 | 1984-08-22 | 株式会社日立製作所 | Limiter for range of operation of manipulator |
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