Claims
- 1. A master/slave type manipulator comprising:
- slaver means in the form of a working machine operated by a first actuator;
- master means in the form of a control lever similar to said working machine and having a second actuator providing a torque to said control lever in a direction opposite to an operating direction of the control lever;
- a first position sensor for detecting an actuated position of the working machine;
- a first speed sensor for detecting a shifting speed of the working machine;
- a second position sensor for detecting an operating position of the control lever;
- a second speed sensor for detecting an operating speed of the control lever;
- means for detecting a load acting on the working machine;
- means for detecting a torque applied to the control lever;
- first means for calculating a difference between an output of said first position sensor and an output of said second position sensor;
- second means for calculating a difference between an output of said load detecting means and an output of said torque detecting means;
- third means for calculating a difference between an output of said first speed sensor and an output of said second speed sensor;
- fourth calculating means for weighting respectively and adding together an output of said first calculating means and an output of said second calculating means and for subtracting a weighted value of an output of said third calculating means from said weighted and added values;
- first driving means for driving said second actuator in accordance with said subtracted value of said fourth calculating means;
- fifth calculating means for summing the output of said first calculating means, and a weighted output of said first speed sensor, and for subtracting the output of said load detecting means from said sum; and
- second driving means for driving said first actuator in accordance with an output of said fifth calculating means.
- 2. A master/slave type manipulator as set forth in claim 1, wherein said first actuator is a hydraulic cylinder, said second driving means is a flow control servo valve, and said load detecting means is a pressure sensor for detecting a pressure difference between a pair of oil lines disposed between said hydraulic cylinder and said flow control servo valve.
- 3. A master/slave type manipulator as set forth in claim 1, wherein said second actuator is a torque motor.
- 4. A master/slave type manipulator as set forth in claim 2, wherein said second actuator is a torque motor.
Parent Case Info
This is a division of application Ser. No. 07/030,887, filed on Mar. 26, 1987, now U.S. Pat. No. 4,893,981.
US Referenced Citations (5)
Foreign Referenced Citations (6)
Number |
Date |
Country |
0582960 |
Dec 1977 |
SUX |
0614939 |
Jun 1978 |
SUX |
0729545 |
Apr 1980 |
SUX |
0748342 |
Jul 1980 |
SUX |
0830292 |
May 1981 |
SUX |
1403016 |
Jun 1988 |
SUX |
Non-Patent Literature Citations (1)
Entry |
Raibert, M. H. et al., "Hybrid Position/Force Control of Manipulators"; Journal of Dynamic Systems, Measurement, and Control, 6/1981. |
Divisions (1)
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Number |
Date |
Country |
Parent |
30887 |
Mar 1987 |
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