MASTER-SLAVE MANIPULATOR AND ITS CONTROL METHOD

PURPOSE: To safely perform a movement of a corresponding position and a change in the enlarging ratio while making a slave manipulator stationary as it is. CONSTITUTION: In a control method of a master-slave manipulator to make a slave 2 follow a master 1 by making a movement of a corresponding position and a change in the enlarging ratio of the master 1 and the slave 2 freely possible and by comparing operation signals from the master 1 and the slave 2 with each other by a comparator 3, at corresponding position moving time and enlarging ratio changing time, the master 1 is operated, and the tip of the slave 2 is moved to a target position. Afterwards, the operation signal from the master 1 to the comparator 3 is cut off, and the operation signal of the slave 2 at cutoff time is inputted to the comparator 3 instead of the operation signal from this master 1, and when this is inputted, the tip of the master 1 is moved to a desired position, and the enlarging ratio is changed.