The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jan. 02, 2018
Filed:
Nov. 05, 2014
Muscle Corporation, Osaka, JP;
Katsuya Kanaoka, Shiga, JP;
Ryo Kikuuwe, Fukuoka, JP;
Muscle Corporation, Osaka, JP;
Abstract
A master-slave system () according to the present invention includes at least one master displacement sensor (Pmto Pm) for measuring a master displacement for a master robot, at least one slave displacement sensor (Psto Ps) for measuring a slave displacement for a slave robot, a master target displacement calculating device () 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 (Amto Am) 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 () renders it possible to solve a singular configuration problem for both the master robot and the slave robot.