Master-slave manipulator control
US5053975A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Jun 8, 1989 |
| Grant date | Oct 1, 1991 |
| Priority date | — |
| Expiry date | Jun 8, 2009 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B19/427
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
After positional information of the master arm is transformed into first generalized world coordinates corresponding to positional information representing a calculated position of the slave arm, when a signal instructing an interruption of the associated operation between the master arm and the slave arm is received and then the positional relationships between the master arm and the slave arm connected thereto by use of an imaging device are updated, the first generalized world coordinates are transformed into the second generalized world coordinates based on the new positional relationships so as to restart the associated operation therebetween. The optimal control of the manipulator is conducted through matrix operations related to the change-over between imaging devices, the reset operation conducted in an area of the movable range of the master arm, and the alteration of the ratio between the movements of the associated operation.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.