Null seeking system for remote center compliance device
AssigneeThe Charles Stark Draper Laboratory, Inc.
InventorDonald S. Seltzer
Life of this patent
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Abstract
A null seeking control system for a remote center compliance (RCC) device including: detector means for sensing the position of the operator means of an RCC device relative to the fixed portion of that RCC device; a threshold circuit, responsive to the detector means, for determining for each degree of freedom whether the operator means is at a null region, offset in a first direction or offset in a second direction relative to the fixed portion of the RCC device; and a correction circuit, responsive to the threshold circuit, for providing an error correction signal to maintain the null position of the operator means relative to the fixed portion of the RCC device.
Claims16
A null seeking control system for a remote center compliance device having a fixed portion and operator means movable relative thereto, comprising:
- detector means for sensing the position of the operator means of an RCC device relative to the fixed portion of that RCC device;
- a threshold circuit means responsive to said detector means for determining for at least one degree of freedom whether the operator means is at a null region, offset in a first direction or offset in a second direction relative to said fixed portion of the RCC device;
- and
- a correction circuit, responsive to said threshold circuit, for providing an error correction signal to maintain the null position of said operator means relative to said fixed portion of said RCC device.
Dependencies are inferred from the claim text.