Rate control system for manipulator arms

US4068156A · kind A · utility

Assignee

• Lockheed Martin Corporation · US

Inventors

• Charles H. Johnson · Chicago, US
• Robert A. Booker · Evergreen, US

Key dates

• Filing date: Mar 1, 1977
• Grant date: Jan 10, 1978
• Expiry date: Mar 1, 1997

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B19/42
• WIPO field: Control
• WIPO sector: Instruments

Abstract

A manipulator system having a master control console and a slave mainpulator arm controlled by signals from the master control console is disclosed. The master control console includes a translation controller and a rotation controller, and the slave manipulator arm includes pivoted arm segments moved by translational servos in response to signals generated by the translation controller and pivoted wrist units moved by rotational servos in response to signals generated by the rotation controller. The slave manipulator arm has six degrees freedom of movement defined as three translational degrees of freedom in range, azimuth and elevation and three rotational degrees of freedom in wrist pitch, yaw and roll. The signals generated by each of the translation controller and the rotation controller are rate command signals. The translational servos compare commanded range, azimuth, elevation or attitude rate with the actual range, azimuth, elevation or attitude rates of the slave manipulator arm. Attitude rate error signals are generated and related to manipulator applied forces. Similarly, the rotational servos compare commanded wrist pitch, yaw and roll rates with actual wrist pitch, y…