Bilateral master-slave manipulator control device
US4661032A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | Dec 18, 1985 |
| Grant date | Apr 28, 1987 |
| Priority date | — |
| Expiry date | Dec 18, 2005 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B19/427
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A control device provided between a master device having a given articulation configuration and a given degree of freedom and a slave manipulator having a given articulation configuration and a given degree of freedom, for causing faithful operation of the slave manipulator according to operation command signals from the master device, comprising: a first position coordinate converter for converting signals of position information concerning articulations of the master device into signals of position information concerning a hand of the master device in a common operating space coordinate system; a selector for selecting specific signals from the output signals of said first position coordinate converter; a second position coordinate converter for converting the signals supplied by said selector into signals of position information concerning the articulations of the slave manipulator; a first controller for giving drive force signals to actuators for the slave manipulator according to the differences between the output signals from said second position coordinate converter and position information signals from the slave manipulator; a first force coordinate converter for convertin…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.