JPH01234186A - Master arm - Google Patents
Master armInfo
- Publication number
- JPH01234186A JPH01234186A JP6031388A JP6031388A JPH01234186A JP H01234186 A JPH01234186 A JP H01234186A JP 6031388 A JP6031388 A JP 6031388A JP 6031388 A JP6031388 A JP 6031388A JP H01234186 A JPH01234186 A JP H01234186A
- Authority
- JP
- Japan
- Prior art keywords
- operator
- master arm
- translational
- arm
- forearm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 66
- 230000033001 locomotion Effects 0.000 claims abstract description 46
- 210000000245 forearm Anatomy 0.000 claims abstract description 24
- 230000000452 restraining effect Effects 0.000 claims description 2
- 210000003857 wrist joint Anatomy 0.000 abstract description 7
- 230000008859 change Effects 0.000 abstract description 2
- 210000000707 wrist Anatomy 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 241000282412 Homo Species 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 241000124033 Salix Species 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 210000000623 ulna Anatomy 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の目的〕
（産業上の利用分野）
本発明は操作者が手動で空間的な位置、姿勢、速度など
を指示する時に使用するマスタアームに関する。DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Field of Industrial Application) The present invention relates to a master arm used when an operator manually indicates a spatial position, attitude, speed, etc.
（従来の技術）
深海・宇宙・原子炉など人間が直接はいシ込め力い極限
環境では、機械を遠隔的に操作して作業を行う場合があ
る。このとき使用される機械には、クレーン等の単純な
運搬機器から人間の腕と同様な機能を有する−いわゆる
マニピュレータまで色々な種類がある。極限環境では多
くの場合、作業には十分な注意を払う必要があシ、人間
が操縦する機構、即ちマスタアームの操作性の向上を図
らねばならない。とシわけ複雑な作業内容を想定してい
る、上記マニピユレータにあっては、非常に重要な問題
となる。(Conventional technology) In extreme environments such as the deep sea, outer space, and nuclear reactors, where humans are forced to physically enter, machines are sometimes operated remotely. There are various types of machines used in this case, ranging from simple transportation equipment such as cranes to so-called manipulators, which have functions similar to the human arm. In extreme environments, it is often necessary to pay close attention to the work, and it is necessary to improve the operability of the mechanism operated by humans, that is, the master arm. This is a very important problem for the above-mentioned manipulator, which is designed for particularly complex work.
特開昭６２−１７３１８４号公開には、この様なマニピ
ュレータの操縦装置として用いられるマスタアームの１
つの発展例が開示されておシ、この例においてはブロッ
クビルド的に積み上げられた３つの互いに直交する並進
軸の第３軸目（垂直軸方向：２軸）に、３つの互いに直
交する軸回シに回転する機構がやはりブロックビルド的
に取着さ枳更にこの回転機構を構成する要素のうち最後
に積み上げられた部分には、操作者である人間が握る為
のグリップが取付けられている。Japanese Unexamined Patent Publication No. 173184/1984 discloses one of the master arms used as a control device for such a manipulator.
Two development examples have been disclosed. In this example, three mutually orthogonal axis rotations are added to the third axis (vertical axis direction: 2 axes) of three mutually orthogonal translational axes stacked like a block build. The mechanism that rotates the machine is also attached in a block-built manner, and the last stacked part of the elements that make up this rotating mechanism is attached with a grip for the operator to grasp.
しかし、この様な機構にあっては、前記並進機構に依る
位置決め動作と前記回転機構に依る姿勢決め動作を独立
に決定することは難しい。例えば、このブロックビルド
構成の最も下に位置する並進軸の位置決めをしようとす
れば、操作者はグリップに力を加えることに依シ、初め
に３つの回転軸を次に残り２軸の並進軸を経て操作力を
伝えなければならない。従って、目的の軸を操作する際
、他の本来は固定したい軸まで動いてしまう可能性が高
かった。又、並進軸は固定して回転軸のみに操作力を印
加しようとする場合、即ちある空間的な位置を固定した
状態で手首の姿勢を変えようとする際にも、前記回転機
構部が前記並進機構部の上に取着されている為に並進軸
への力を絶縁することが難しく、回転運動のみを希望し
ているにもかかわらず並進運動が発生しがちであった。However, in such a mechanism, it is difficult to independently determine the positioning operation by the translation mechanism and the posture determination operation by the rotation mechanism. For example, to position the lowest translational axis in this block build configuration, the operator must apply force to the grip, first positioning the three rotational axes, then the remaining two translational axes. The operating force must be conveyed through the process. Therefore, when operating the desired axis, there was a high possibility that other axes that were originally intended to be fixed would also move. Furthermore, when trying to fix the translation axis and apply operating force only to the rotation axis, that is, when trying to change the posture of the wrist while fixing a certain spatial position, the rotation mechanism section Since it is mounted on top of the translation mechanism, it is difficult to isolate the force to the translation axis, and translational movement tends to occur even though only rotational movement is desired.
回転運動を並進運動と完全に絶縁しようと思えば、ブレ
ーキ装置や信号の伝達を停止する装置などの機構を付加
する必要があった。If rotational motion was to be completely isolated from translational motion, it would be necessary to add mechanisms such as a brake device or a device to stop signal transmission.
これ等の事柄はマスタアーム機構を複雑化するだけでは
なく、細心の注意を要する極限環境下の作業における操
作性の低下を招く恐れがあった。These matters not only complicate the master arm mechanism, but also pose a risk of reducing operability when working in extreme environments that require careful attention.
（発明が解決しようとする課題）
上述の如く、従来の一般的なマスタアームにあっては、
空間のある１点とその地点における姿勢を完全に独立し
て決定しようと試みる際、相互間の干渉は避けられず、
これが原因して精密な位置決めを困難としていたシ、或
いは操作や機構が複雑化するという問題があった。(Problem to be solved by the invention) As mentioned above, in the conventional general master arm,
When attempting to determine a point in space and the attitude at that point completely independently, interference between them is unavoidable.
This has caused problems such as making precise positioning difficult or complicating operations and mechanisms.
そこで本発明は、操作者に複雑な手順を要求することな
く、更に機構的な複雑化を伴わずに、並進を主体とした
位置決め動作と回転を主体とした姿勢決め動作を互いの
干渉なしに別々に設定可能なマスタアームを提供するこ
とにある。Therefore, the present invention is capable of performing positioning operations mainly based on translation and posture determining operations mainly based on rotations without interfering with each other, without requiring complicated procedures from the operator or complicating the mechanism. The objective is to provide separately configurable master arms.
（課題を解決するための手段）
本発明に係るマスクアームは、空間における並進方向３
軸と回転方向３軸に動作する移動機構および回転機構と
、この並進移動機構部に取付けられて、操作者の前腕部
を拘束する機構から構成されている。(Means for Solving the Problems) The mask arm according to the present invention has three directions of translation in space.
It is comprised of a moving mechanism and a rotating mechanism that operate in three rotational directions, and a mechanism that is attached to the translational movement mechanism and restrains the forearm of the operator.
（作用）
操作者が本発明に係るマスタアームを用いて空間的な位
置を姿勢を決定する場合、このマスタアームの並進移動
機構部に取付けられている拘束機構が操作者の前腕部、
好適には前腕手首関節部付近を挟み込む。前記並進移動
機構部の先に１例えばブロックビルド的に取付けられた
回転移動機構部上のグリップを操作者は握る。(Function) When the operator determines the spatial position and posture using the master arm according to the present invention, the restraining mechanism attached to the translational movement mechanism of the master arm is attached to the operator's forearm,
Preferably, the area near the wrist joint of the forearm is pinched. The operator grasps a grip on the rotational movement mechanism, which is attached, for example, in a block-built manner, to the tip of the translational movement mechanism.
この様な構成であると、操作者が空間的な１点を決めよ
うとする場合には、操作者の前腕部の拘束機構を介して
マスタアームの並進移動機構に操作力が伝達され、この
マスタアームの指令信号を受けて駆動されるいわゆるス
レーブアームの並進動作が実現する。この時、操作者の
手首関節部には一切刃が加わらない為、マスタアームの
回転移動機構に操作力が伝達される危険性はない。また
逆に、゛並進移動動作を停止して回転移動動作のみを伝
達しようとする場合にも、全腕部の動きを全く行わずに
手首間０節の回転運動ができる為、“空間的な位置を保
持したままでスレーブアームの姿勢変更が可能となる。With such a configuration, when the operator attempts to determine one spatial point, the operating force is transmitted to the translational movement mechanism of the master arm via the restraint mechanism of the operator's forearm, and this A so-called translational movement of the slave arm, which is driven in response to a command signal from the master arm, is realized. At this time, since no blade is applied to the operator's wrist joint, there is no risk of the operating force being transmitted to the rotational movement mechanism of the master arm. Conversely, even when trying to stop the translational movement and transmit only the rotational movement, it is possible to perform the rotational movement of the 0 joints between the wrists without any movement of the entire arm. The posture of the slave arm can be changed while maintaining its position.
マスタアームの回転移動運動の内、手首のロール動作に
は手首関節だけではなく前腕部の撓骨と尺骨に依る前腕
の回転運動が伴うが、この場合には上記前腕部拘束機構
をロール方向に回転自在にしておけば並進移動運動との
干渉が生じることはない。Among the rotational movements of the master arm, the roll movement of the wrist involves rotation of the forearm not only by the wrist joint but also by the radius and ulna of the forearm.In this case, the forearm restraint mechanism is moved in the roll direction. If it is made rotatable, there will be no interference with translational movement.
（実施例） 以下、図面を参照しながら実施例を説明する。(Example) Examples will be described below with reference to the drawings.
第３図は従来のマスタアームの一実施例を示す図である
。FIG. 3 is a diagram showing an embodiment of a conventional master arm.
同図においては並進移動機構はＸ軸並進機構（１）。In the figure, the translation mechanism is an X-axis translation mechanism (1).
Ｙ軸並進機構＋２１、Ｚ軸並進機構（３）の順に積み上
げられ、このＺ軸並進機構にはα、β、γの方向に関す
る回転移動機構（４）が取付けられている。操作者は、
この回転移動機構に取着されているグリップ（５）を掌
（６）で握ることに依シ、これらの回転移動機構ならび
に並進移動機構に操作力を印加しなければならない。こ
の時、例えばα方向の回転操作力を加えようとすれば、
Ｙ軸並進移動機構およびＺ軸並進移動機構にも力が伝達
される可能性があシ、この危険性を回避しようと思えば
、図示されないブレーキや信号伝達停止装置などで並進
方向の指令信号をスレーブアームに伝達されない様な手
段が講じられる。A Y-axis translation mechanism +21 and a Z-axis translation mechanism (3) are stacked in this order, and a rotational movement mechanism (4) in the directions of α, β, and γ is attached to this Z-axis translation mechanism. The operator is
Depending on the grip (5) attached to this rotational movement mechanism being grasped with the palm (6), operating force must be applied to these rotational movement mechanisms and translational movement mechanisms. At this time, for example, if you try to apply a rotational force in the α direction,
There is a possibility that the force is also transmitted to the Y-axis translation mechanism and the Z-axis translation mechanism, and if you want to avoid this danger, you can use a brake or signal transmission stop device (not shown) to send a command signal in the translation direction. Measures are taken to prevent the signal from being transmitted to the slave arm.
第１図は本発明の一実施例に係るマスタアームの構成の
概略を示した図である。FIG. 1 is a diagram schematically showing the configuration of a master arm according to an embodiment of the present invention.
同図において、基台（９）上にはＹ軸、Ｙ軸、Ｚ軸の各
並進移動機構（１１、（２１、（３）が取付けられてい
る。In the figure, Y-axis, Y-axis, and Z-axis translation mechanisms (11, (21, (3)) are mounted on the base (9).
Ｚ軸方向の並進移動機構には腕木ＱＱが設置され、その
上には本発明の要点である前腕部拘束機構（８）が設け
られている。前腕部拘束機構のすぐ前方には３軸回シに
回転自在継手（７）を介して回転移動機構（４）が取着
され、その先端にはグリップ（５）がある。An arm QQ is installed in the translational movement mechanism in the Z-axis direction, and a forearm restraint mechanism (8), which is the main point of the present invention, is provided above it. Immediately in front of the forearm restraint mechanism, a rotational movement mechanism (4) is attached to a three-axis rotary shaft via a rotatable joint (7), and a grip (5) is provided at the tip thereof.
また、上記の並進移動機構のうち、Ｚ軸方向のものには
重力補償用のカウンタウェイト（３１）が取付けられて
おシ、該方向の操作力の低減化を図っている。Further, among the above-mentioned translation mechanisms, a counterweight (31) for gravity compensation is attached to the one in the Z-axis direction, thereby reducing the operating force in that direction.
８２図は本発明の一実施例に係るマスタアームを操作者
が操縦する際の概要を示す図である。同図では、操作を
説明するのに関係する要素のみを示し、他の部分は省略
してあったり、或いは説明を分り易くする為に混乱を生
じさせない範囲で第１図をモディファイしである。（同
図斜線部が第１図に示した部分に相当する。）
操作者は前記腕木顛に前腕を沿わせた格好で、前記前腕
部拘束機構（８）に前腕の手首部付近を差込みＸ、Ｙ、
Ｚ軸方向に応じた力をこの前腕手首部で発生させ、上記
前腕拘束機構を介して、前記の３方向の並進移動機構を
操作する。この時、好適にはこの前腕部拘束機構の内面
の形状はゴムなどの変形材料を用いて前腕手首部の凹凸
と一致しておシ、前腕の前後方向（すなわちＹ軸方向）
の運動に際しても十分な操作力を加えることが可能であ
る。本構成に依れば、操作者はこの様な並進運動を行う
場合、第３図に示した従来のマスタアームでは不可欠で
あったグリップを掌で握る動作は不要となシ、従って、
回転運動機構を介することなく並進的な位置決め指令が
可能である。FIG. 82 is a diagram showing an outline of when an operator operates a master arm according to an embodiment of the present invention. In this figure, only the elements related to explaining the operation are shown, and other parts are omitted or the parts of FIG. 1 are modified to the extent that confusion is not caused in order to make the explanation easier to understand. (The shaded area in the same figure corresponds to the part shown in Figure 1.) The operator places the forearm along the arm frame and inserts the forearm near the wrist into the forearm restraint mechanism (8). ,Y,
A force corresponding to the Z-axis direction is generated at the wrist of the forearm, and the three-direction translation mechanism is operated via the forearm restraint mechanism. At this time, the shape of the inner surface of the forearm restraint mechanism is preferably made of a deformable material such as rubber so that the shape matches the unevenness of the forearm wrist, and the shape is adjusted in the longitudinal direction of the forearm (i.e., the Y-axis direction).
It is possible to apply sufficient operating force even when moving. According to this configuration, when the operator performs such a translational movement, there is no need for the operator to grasp the grip with the palm of the hand, which was essential with the conventional master arm shown in FIG.
Translational positioning commands are possible without using a rotational movement mechanism.
前記回転移動機構（４）は上記の回転自在継手（７）を
中心にα、β、ｒ方向の回転指示を行うが、この回転自
在継手の位置は手首関節位置の近くに設定され、操作者
の手首の自然な動きを伝達する。好適には回転軸の交差
部が手首関節の位置に一致する様に設計するのが望まし
い。また、前記前腕部拘束機構（８）の内面は操作者が
手首のロール動作（ｒ方向の回転）を行う際の障害とな
らない様に、該方向に回転自在な機構が設けられている
。The rotational movement mechanism (4) instructs rotation in α, β, and r directions around the rotary joint (7), and the position of this rotary joint is set near the wrist joint position, and the operator transmits the natural movement of the wrist. Preferably, the design is such that the intersection of the rotational axes coincides with the position of the wrist joint. Further, the inner surface of the forearm restraint mechanism (8) is provided with a mechanism that is rotatable in the direction so as not to become an obstacle when the operator performs a roll motion (rotation in the r direction) of the wrist.
回転移動機構をこの様な構成にしておけばα。If the rotational movement mechanism is configured like this, α.
β方向の回転動作指令に関しては、人間が前腕の位置に
関わりなく手首の姿勢を決められるのと同様に、マスタ
アームの姿勢を設定することが可能となる。即ち、マス
タアームの並進動作と回転動作をほぼ完全に絶縁できる
。前腕部の捻りが含まれるｒ方向の回転指令に関しても
、上述した該方向に回転自在な機構を設けることで、並
進動作と回転動作の干渉は最少限にとどめられる。Regarding the rotational motion command in the β direction, it becomes possible to set the posture of the master arm in the same way that a human can determine the posture of the wrist regardless of the position of the forearm. That is, the translational movement and rotational movement of the master arm can be almost completely isolated. Regarding rotation commands in the r direction that include twisting of the forearm, interference between the translational motion and rotational motion can be kept to a minimum by providing the above-mentioned mechanism that is rotatable in this direction.
更に、本実施例においては、並進移動機構と回転移動機
構は位置制御を想定した構成を取っているが、並進移動
機構を３軸のジｌイスティックとし、その上に本実施例
に示した様な回転移動機構を取付けても構わない。この
時、操作対象となるスレーブアームの並進動作は速度制
御として行われる。Furthermore, in this embodiment, the translational movement mechanism and the rotational movement mechanism have a configuration assuming position control, but the translational movement mechanism is a three-axis tilt stick, and the Various rotational movement mechanisms may be installed. At this time, the translational movement of the slave arm to be operated is performed as speed control.
以上述べた様に、本発明の構成に依れば、スレーブアー
ムに対する並進と回転の指令、即ち位置と姿勢の指令を
相互に干渉することなく行える様な操作性の秀れたマス
タアームを提供することができる。As described above, the configuration of the present invention provides a master arm with excellent operability that allows translation and rotation commands, that is, position and orientation commands to be given to slave arms without mutual interference. can do.
第１図は本発明の一実施例に係るマスタアームの装置単
体の概略構成を説明するための概略図、第２図は本発明
に係るマスタアームを操作者が装着する様相を説明する
為の概略図、第３図は従来のマスタアームの一般的な構
成例を示す概略図でちる。
１・・・マスタアームの並進移動機構（Ｙ軸）、２・・
・同（Ｙ軸）、３・・・同（Ｚ軸）、４・・・マスタア
ームの回転移動機構（α、β、ｒ方向）、５・・・グリ
ップ、６・・・操作者の掌、７・・・回転自在継手、８
・・・前腕部拘束機柳、９・・・基台、１ｏ・・・腕木
、３１・・・カウンタウェイト。
代理人 弁理士 則 近 憲 佑
同 松山光之
第１図
第２図
第３図FIG. 1 is a schematic diagram for explaining the general configuration of a single master arm device according to an embodiment of the present invention, and FIG. 2 is a schematic diagram for explaining how an operator attaches the master arm according to the present invention. Schematic diagram, FIG. 3 is a schematic diagram showing a general configuration example of a conventional master arm. 1... Master arm translational movement mechanism (Y axis), 2...
・Same (Y axis), 3... Same (Z axis), 4... Master arm rotational movement mechanism (α, β, r directions), 5... Grip, 6... Operator's palm , 7... Rotating universal joint, 8
...Forearm restraint machine willow, 9...base, 1o...branch, 31...counterweight. Agent Patent Attorney Noriyuki Chika Yudo Mitsuyuki Matsuyama Figure 1 Figure 2 Figure 3
Claims (1)
と回転方向３軸の位置及び姿勢を決定するマスタアーム
において、上記並進位置を指示する運動機構には、上記
回転方向を指示する運動機構を操作者が握った状態で干
渉しない部位に、操作者の前腕を拘束する機構が設けら
れていることを特徴とするマスタアーム。In a master arm that determines the position and posture of three translational axes and three rotational axes in space by the movement of the operator's arm, the movement mechanism that instructs the translational position has a movement that instructs the rotational direction. A master arm characterized in that a mechanism for restraining an operator's forearm is provided at a portion that does not interfere with the operator's grasp of the mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6031388A JPH01234186A (en) | 1988-03-16 | 1988-03-16 | Master arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6031388A JPH01234186A (en) | 1988-03-16 | 1988-03-16 | Master arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH01234186A true JPH01234186A (en) | 1989-09-19 |
Family
ID=13138556
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6031388A Pending JPH01234186A (en) | 1988-03-16 | 1988-03-16 | Master arm |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH01234186A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009291363A (en) * | 2008-06-04 | 2009-12-17 | Shinshu Univ | Moving device |
| JP2011000643A (en) * | 2009-06-16 | 2011-01-06 | Seiwa Kogyo:Kk | Apparatus for setting tilt angle of stationary plate in vacuum suction pad setting device |
| JP2014087857A (en) * | 2012-10-29 | 2014-05-15 | Nippon Steel & Sumitomo Metal | Multi-axis joystick |
| JP2021094613A (en) * | 2019-12-13 | 2021-06-24 | 株式会社 カットランドジャパン | Master slave arm device |
| JP7220002B1 (en) * | 2021-09-24 | 2023-02-09 | リバーフィールド株式会社 | Operating device |
-
1988
- 1988-03-16 JP JP6031388A patent/JPH01234186A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009291363A (en) * | 2008-06-04 | 2009-12-17 | Shinshu Univ | Moving device |
| JP2011000643A (en) * | 2009-06-16 | 2011-01-06 | Seiwa Kogyo:Kk | Apparatus for setting tilt angle of stationary plate in vacuum suction pad setting device |
| JP2014087857A (en) * | 2012-10-29 | 2014-05-15 | Nippon Steel & Sumitomo Metal | Multi-axis joystick |
| JP2021094613A (en) * | 2019-12-13 | 2021-06-24 | 株式会社 カットランドジャパン | Master slave arm device |
| JP7220002B1 (en) * | 2021-09-24 | 2023-02-09 | リバーフィールド株式会社 | Operating device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA2000818C (en) | Master slave manipulator system | |
| KR101498836B1 (en) | Control device and teaching method for seven-shaft multi-joint robot | |
| KR100525648B1 (en) | Arm structure for man type working robots | |
| US11839979B2 (en) | Dual mode free-drive of robot arm | |
| JP6875495B2 (en) | Surgical manipulator operating device and robot-assisted surgery system | |
| JP2017104964A (en) | Master arm input device | |
| JPS6228145A (en) | Gear row device having three degree of freedom | |
| JPH0443746B2 (en) | ||
| KR102168774B1 (en) | Master device for robot and robot control system having the same | |
| JP2685602B2 (en) | Master-slave manipulator system | |
| JPH01234186A (en) | Master arm | |
| JP2006198703A (en) | Arm driving device of human type robot | |
| JPH07276265A (en) | Manipulator operating device | |
| JPS6311291A (en) | Remote control type manipulator device | |
| KR102116119B1 (en) | Master robot and control method thereof | |
| JPH04315589A (en) | Articulated manipulator having seven degrees of freedom | |
| JPH07148684A (en) | Master arm device of master-slave system | |
| JP2010069593A (en) | Guide surface indication device and auxiliary working arm | |
| WO2023228857A1 (en) | Articulated robot, control method for articulated robot, robot system, and method for manufacturing article | |
| JPH0631670A (en) | Method and device of exchanging tool for manipulator | |
| JPS60225207A (en) | Joystick | |
| JPH0630378Y2 (en) | Master manipulator | |
| JPS6284985A (en) | Master arm | |
| JPH08323663A (en) | Industrial manipulator | |
| JP2023173620A (en) | Articulated robot, control method of articulated robot, robot system, and method of manufacturing goods |