Control-in-the-small system for precision, under load control of

Details Control-in-the-small system for precision, under load control of Control-in-the-small system for precision, under load control of

1982-03-30

1985-03-19

Herrmann, Allan D.

Machine element or mechanism

Control lever and linkage systems

Multiple controlling elements for single controlled element

74469, 74522, 74571M, 403 91, 403103, 414 4, 414730, 414786, 901 23, 901 24, B25J 304, G05G 1100

Patent

active

045051666

ABSTRACT:
A remote manipulator for a robotic system has a plurality of intercoupled manipulator links and a principal manipulator drive unit coupled to manipulate the remote position of an end-effector supported by said links in response to a manipulator control signal. Coarse adjustment of the end effector is refined by a precision control subsystem which augments the principal manipulator to achieve a "control-in-the-small" robotic manipulator system. The augmenting precision-achieving subsystem includes a coupling mechanism, coupled with one of the links, for establishing the position of one of the links relative to another link, and a precision adjustment device, associated with the coupling mechanisms for adjusting the position of the one link relative to another link as established by the coupling mechanism, independently of the action of the principal manipulator drive unit and effectively without bearing the load supported by the one of said links. Generally, if the manipulator has N major degrees of freedom, then it will be useful to implement up to N secondary degrees of freedom to adequately establish the control-in-the-small subsystem.

REFERENCES:
patent: 130878 (1872-08-01), Stiles
patent: 2188635 (1940-01-01), Dusen, Jr.
patent: 2963119 (1960-12-01), Rager et al.
patent: 3241687 (1966-03-01), Orloff
patent: 3849668 (1974-11-01), Dane
patent: 4235567 (1980-11-01), Pilch

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