JPH0179583U

JPH0179583U -

Info

Publication number: JPH0179583U
Application number: JP1987171971U
Authority: JP
Priority date: 1987-11-12
Filing date: 1987-11-12
Publication date: 1989-05-29

Description

[Brief explanation of the drawing]

第１図は本考案の一実施例のブロツク図、第２
図は他の実施例のブロツク図、第３図は従来例の
ブロツク図である。図面中、１２は反力算出回路、２０はサーボ回
路、２１，２４はゲイン切換器である。 Figure 1 is a block diagram of one embodiment of the present invention;
This figure is a block diagram of another embodiment, and FIG. 3 is a block diagram of a conventional example. In the drawing, 12 is a reaction force calculation circuit, 20 is a servo circuit, and 21 and 24 are gain switchers.

Claims

[Claim for Utility Model Registration] A bilateral control device for a master/slave type manipulator that causes the position of the slave arm to follow the position of the master arm and returns the reaction torque of the slave arm to the master arm. A servo means with a variable servo gain that calculates the amount of torque to follow the position of the master arm, a reaction force calculation means with a variable reaction sensitivity gain that calculates the amount of reaction torque feedback, and a reaction force calculation means with a variable reaction force sensitivity gain that calculates the amount of torque to follow the position of the master arm. It is preferable to provide a gain switching means that switches in conjunction and sets the servo gain to a high gain when the reaction force sensitivity gain is set to a low gain, and sets the servo gain to a low gain when the reaction force sensitivity gain is set to a high gain. Characteristic bilateral control device.