Compensation system, compensation device, compensation method and program

Abstract

To execute friction compensation in a further appropriate state.SOLUTION: A compensation system 1 includes: a master device 10 to which an operation of an operator is input; and a slave device 20 that operates according to the operation input to the master device 10. Further, the compensation system 1 includes a force / tactile sense transmission part 354, a state determination part 352 and a friction compensation part 353. The force / tactile sense transmission part 354 controls transmission of a force / tactile sense in the master device 10 and the slave device 20. The state determination part 352 determines a state of the operation on the master device 10 by the operator. The friction compensation part 353 determines whether or not to execute friction compensation based on a determination result by the state determination part 352, and when it is determined to execute the friction compensation, executes the friction compensation for friction that affects the transmission of the force / tactile sense by the force / tactile sense transmission part 354.SELECTED DRAWING: Figure 6

Images