Robots – Counterbalance
Patent
1996-10-23
1998-07-21
Davis, George B.
Robots
Counterbalance
395 80, 395 82, 395 83, 395 92, 901 27, 901 28, 901 34, 901 36, G06F 1500
Patent
active
057845425
ABSTRACT:
The present invention is a low friction, low inertia, six-axis force feedback input device comprising an arm with double-jointed, tendon-driven revolute joints, a decoupled tendon-driven wrist, and a base with encoders and motors. The input device functions as a master robot manipulator of a microsurgical teleoperated robot system including a slave robot manipulator coupled to an amplifier chassis, which is coupled to a control chassis, which is coupled to a workstation with a graphical user interface. The amplifier chassis is coupled to the motors of the master robot manipulator and the control chassis is coupled to the encoders of the master robot manipulator. A force feedback can be applied to the input device and can be generated from the slave robot to enable a user to operate the slave robot via the input device without physically viewing the slave robot. Also, the force feedback can be generated from the workstation to represent fictitious forces to constrain the input device's control of the slave robot to be within imaginary predetermined boundaries.
REFERENCES:
patent: 4260940 (1981-04-01), Engelberger et al.
patent: 5053975 (1991-10-01), Tsuchihashi et al.
patent: 5086401 (1992-02-01), Glassman et al.
patent: 5198736 (1993-03-01), Azuma et al.
patent: 5341459 (1994-08-01), Backes
patent: 5572999 (1996-11-01), Funda et al.
Barlow Ed
Boswell Curtis
Das Hari
Guillermo Rodriguez
Ohm Timothy
California Institute of Technology
Davis George B.
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