Boots – shoes – and leggings
Patent
1982-08-23
1985-04-09
Smith, Jerry
Boots, shoes, and leggings
318628, 414 5, 414909, 901 2, 901 9, 901 50, G08C 1900, G05B 1100, G05D 300, B25J 304
Patent
active
045105740
ABSTRACT:
A force return servosystem between a master actuator and a slave actuator connected by transmission lines, which introduce a delay, .tau..
At the master actuator, the servocontrol is realized by means of two devices supplying force signals, where the smaller is applied to the master actuator, but having the polarity of the signal supplied by a first servocontrol device. The latter compares, in a known manner the position signal .theta.(t) of the master actuator with the delay position signal .theta.'(t-.tau.) of the slave actuator, whereas a second servocontrol device compares the delayed position signal .theta.(t-2.tau.) with signal .theta.'(t-.tau.).
The invention may be used in manipulators, the control of the flying of a missile and any other control requiring the proportioning of the force controlling a movement of a machine.
REFERENCES:
patent: 2861699 (1958-11-01), Youmans
patent: 3241687 (1966-03-01), Orloff
patent: 3414136 (1968-12-01), Moore et al.
patent: 3923166 (1975-12-01), Fletcher et al.
patent: 4046262 (1977-09-01), Vykukal et al.
patent: 4056763 (1977-11-01), Debrie et al.
patent: 4367532 (1983-01-01), Crum et al.
European Search Report, 0077224.
Guittet Jack
Marchal Paul
Micaelli Alain
Vertut Jean
Commissariat a l''Energie Atomique
MacDonald Allen
Smith Jerry
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