Master-slave manipulator and medical master-slave manipulator .

摘要

PROBLEM TO BE SOLVED: To provide a master-slave manipulator capable of reducing a load on inverse kinematic computation even if the master-slave manipulator has a redundant joint.;SOLUTION: A first roll joint 102 serving as an operation member for an operator to designate the drive amount of a redundant joint of a slave arm 31 is provided in an operation unit 11 of a master operation input device 10. When the slave arm 31 does not have the redundant joint, the drive amount of each joint is found by solving the overall inverse kinematics of the slave arm 31. When the slave arm 31 has the redundant joint, the drive amount of each of joints other than the redundant joint 202 is found by solving the inverse kinematics on the assumption that the end redundant joint 202 is not present. Regarding the redundant joint 202, the drive amount corresponding to the designated value from the master operation input device 10 is used as the drive amount thereof.;COPYRIGHT: (C)2012,JPO&INPIT