Master/slave type manipulator
US5018922A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Sep 12, 1989 |
| Grant date | May 28, 1991 |
| Priority date | — |
| Expiry date | Sep 12, 2009 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J3/04
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A force feeling type master/slave manipulator detects a positional difference, a speed difference, and a force difference between the master and slave machines. The position difference and force difference are combined in a weighted manner and the output is used to drive an actuator on the control lever of the master machine to provide a force feeling feedback effect. The position difference is also combined in a weighted manner with the speed difference and the speed of the working machine to provide a sum value. The load force is subtracted from the sum value and the result is used to provide a signal for driving the actuator of the working machine. As a result, stable operation of the control lever is provided, natural vibration of the working machine is reduced and the working machine is stabilized against large inertial loads.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.