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US 5,103,404 AGranted
Feedback for a manipulator
AssigneeTensor Development, Inc.
InventorJames L. McIntosh
Life of this patent
Estimating the term…
Abstract
A programmable variable degree of tactile feedback for the operation of a manipulator by a pair of motors, one connected to the load and one to the control. Computer controlled four quadrant regulators for each motor are used to drive the load motor shaft to the same position as the control motor shaft and to vary the feedback force on the control motor in proportion to selected forces developed during the manipulation process.
Claims17
A system for controlling movement of a manipulator using determined force-related parameters and adapted to move a load using the manipulator, comprising:
- a manipulator adapted to be moved in a controlled manner;
- load motor means operatively connected to said manipulator for causing movement thereof;
- and
- controlling means operatively connected to said load motor means for using at least two of the following force-related parameters:
- mass, distance moved, velocity and acceleration associated with at least one of said manipulator and said load motor means, in controlling said load motor means to cause movement of said manipulator, said controlling means including processing means wherein said force-related parameters are determined using said processing means, said determined force-related parameters being used in calculating a force-related magnitude wherein said force-related magnitude relates to at least one of the following:
- (a) total system forces developed while moving said manipulator, (b) a force outputted by said load motor means, (c) a force induced by the load while moving said manipulator, said controlling means further including means for changing the ratio of forces among:
- said total system forces, said force outputted by said load motor means and said load induced force to provide a desired blend of feedback force.
4 more elements
Dependencies are inferred from the claim text.