MASTER-SLAVE MOTION CONTROL METHOD, ROBOT SYSTEM, DEVICE, AND STORAGE MEDIUM

Disclosed are a master-slave motion control method (100), a robot system (200, 400), a device, and a storage medium, which relate to the field of robots. The master-slave motion control method (100) includes: determining a current pose (101) of a master manipulator (410), the current pose including...

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Bibliographische Detailangaben
Hauptverfasser:	WU, Baibo, YANG, Haozhe, XU, Kai, WANG, Xiang
Format:	Patent
Sprache:	eng ; fre ; ger
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES DIAGNOSIS HAND TOOLS HUMAN NECESSITIES HYGIENE IDENTIFICATION MANIPULATORS MEDICAL OR VETERINARY SCIENCE PERFORMING OPERATIONS PORTABLE POWER-DRIVEN TOOLS SURGERY TRANSPORTING
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Beschreibung
Zusammenfassung:	Disclosed are a master-slave motion control method (100), a robot system (200, 400), a device, and a storage medium, which relate to the field of robots. The master-slave motion control method (100) includes: determining a current pose (101) of a master manipulator (410), the current pose including a current position and a current posture; determining a target pose (103) of a slave tool (420) based on the current pose of the master manipulator (410) and a pose relationship between the master manipulator (410) and the slave tool (420); and generating a control signal (105) for the slave tool (420) based on the target pose of the slave tool (420). Teleoperation of the slave tool (420) by the master manipulator (410) can be implemented, and the control precision of the teleoperation of the slave tool (420) by the master manipulator (410) can be improved.