公开(公告)号：US09855653B2

公开(公告)日：2018-01-02

申请号：US15033688

申请日：2014-11-05

Applicant: Muscle Corporation

Inventor： Katsuya Kanaoka ,  Ryo Kikuuwe

IPC: G05B19/04 ,  B25J3/04 ,  B25J9/16 ,  B25J13/02

CPC classification number: B25J3/04 ,  B25J9/1607 ,  B25J9/1689 ,  B25J13/025 ,  G05B2219/40333

Abstract: A master-slave system (1) according to the present invention includes at least one master displacement sensor (Pm1 to Pm3) for measuring a master displacement for a master robot, at least one slave displacement sensor (Ps1 to Ps3) for measuring a slave displacement for a slave robot, a master target displacement calculating device (2) for mapping the slave displacement and thereby obtaining a master target displacement which is a target value for the master displacement corresponding to the slave displacement, and a master actuator (Am1 to Am3) for generating a master driving force to position-control the master robot on the basis of the master target displacement and the master displacement. The mapping is predefined such that a set of master target displacements excludes a singular configuration for the master robot. The master-slave system (1) renders it possible to solve a singular configuration problem for both the master robot and the slave robot.