专利名称：MASTER AND SLAVE SYSTEM发明人：KANAOKA, Katsuya申请号：EP15785590.9申请日：20150428公开号：EP3138665B1公开日：20210602
摘要：A master-slave system (1) according to the present invention includes a slaveactuator (As 1 to As 3 ) for generating a slave driving force (Ä s ) to control a slave robotin terms of driving force, an effective driving force sensor (Fs 1 to Fs 3 ) for measuring aslave effective driving force (Ä sa ) actually acting on a terminal output axis of the slaveactuator (As 1 to As 3 ), and a slave target effective driving force calculating device (3) forcalculating a slave target effective driving force (Ä sad ) which is a target value for theslave effective driving force (Ä sa ), on the basis of a master operating force (f m ) appliedto the master robot by an operator (U). The slave actuator (As 1 to As 3 ) generates theslave driving force (Ä s ) on the basis of the slave target effective driving force (Ä sad ) andthe slave effective driving force (Ä sa ).
申请人：Muscle Corporation
代理机构：Pfenning, Meinig & Partner mbB
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