PROBLEM TO BE SOLVED: To provide a master-slave manipulator including a redundant joint among the joints, the master-slave manipulator reducing the lord concerning the inverse kinematic calculation, even though it has mutually different structures of a remote manipulation device and slave arms.SOLUTION: A master control unit 201 receives operation command from the remote manipulation device 100. Then, the master control unit calculates the equivalent rotation vector Vr (t) representing the orientation change of the manipulation unit 101 and master roll axis Xm (t) immediately before of a manipulation unit 101 (Step S1). When an angle φ formed between the equivalent rotation vector Vr (t) and the master roll axis Xm (t) is a predetermined value or less, out of the redundant joint 1 (Roll 2) and the joint 4 (Roll 1) in redundancy relationship with the redundant joint 1, the Roll 2 is selected as a drive joint and the Roll 1 is selected as a fixed joint (Step S3) and the inverse kinematic calculation is performed. When the angle φ is larger than the predetermined value, the Roll 1 is selected as a drive joint and the Roll2 is selected as a fixed joint (Step S4) and the inverse kinematic calculation is performed.COPYRIGHT: (C)2012,JPO&INPIT【課題】冗長関節を有するマスタスレーブマニピュレータにおいて、遠隔操作装置とスレーブアームとの構造が異なる構造であっても、逆運動学計算にかかる負荷を低減可能なマスタスレーブマニピュレータを提供すること。【解決手段】遠隔操作装置100からの操作信号を受けて、マスタ制御部201は、操作部101の姿勢変化に係る等価回転ベクトルVr(t)と直前の操作部101のマスタロール軸Xm(t)とを算出する(ステップS1)。Vr(t)とXm(t)のなす角φが規定値以下の場合には、冗長関節1(Roll2)と、関節1と冗長関係にある関節4(Roll1)のうち、Roll2を駆動関節とし、Roll1を固定関節として(ステップS3)、逆運動学計算を行う。角度φが規定値を以下でない場合には、Roll1を駆動関節とし、Roll2を固定関節として(ステップS4)、逆運動学計算を行う。【選択図】図5
