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AssigneeSpar Aerospace Limited
InventorsPatrick T. Fung, Graham Norgate, Timothy A. Dilts, Andrew S. Jones, Rangaswamy Ravindran
Estimating the term…
In a human-in-the-loop robotic control loop, the constrained forces and moments at the gripper (also called hand or end effector) of the manipulator are measured by a force-mement sensor. The resulting force and moment signals are scaled and fed as input voltages to motors in a hand controller to provide torques which oppose deflection of the hand controller. Thus, the operator feels the opposing torques which are proportional to the magnitude of the constrained forces and moments. The force feedback loop may be opened to selectively provide a passive control loop. In either the active or passive mode, the hand controller position signals may be selectively mapped to either gripper position signals or gripper velocity signals in order to control movement of the gripper in the desired manner.
A human-in-the-loop control loop for a machine having a plurality of joints and an operative part, said plurality of joints adapted for moving said operative part, comprising:
A human-in-the-loop control loop for a machine having a plurality of joints and an operative part, said plurality of joints adapted for moving said operative part, comprising:
A human-in-the-loop control loop for a robot arm terminating in a gripper and having a plurality of joints above said gripper, comprising:
Dependencies are inferred from the claim text.