MASTER/SLAVE MANIPULATOR AND SLAVE CONTROL THEREOF

PURPOSE: To provide a master slave manipulator not giving a feeling of physical disorder in operating to an operator, by first making a plurality of representation points correspond to a plurality of target points mutually on a limit surface in each operating region of master and slave, and next making a plurality of representation points correspond to a plurality of target points mutually in the operating region. CONSTITUTION: First, a plurality of representation points of a master 1 are set onto a closed curve Al serving as a limit line of an operating region A of the master 1. Next, a target point, which must correspond to a plurality of the representation points of the master 1, is almost equally determined on a closed curve B1 serving as a limit line of an operating region B of a slave 2, to set the target point as a plurality of the target points of the slave 2. An orthogonal lattice A2 is set in the operating region A, to set several crossing points to a plurality of the representation points of the master 1. An orthogonal lattice B2 is set also in the operating region B, to almost equally determine a target crossing point, which must correspond to each representation point of the master 1, set to a plurality of the target points of the slave 2. An operating quantity of the master 1 and slave 2 is obtained in a plurality of each representation point.