Human-in-the-loop machine control loop

Details Human-in-the-loop machine control loop Human-in-the-loop machine control loop

1990-05-03

1992-05-26

Spar, Robert J.

Material or article handling

Article manipulator moves analogous with human hand, finger,...

Electric or fluid motor drive for manipulator

414909, 901 9, 74471XY, 74523, B25J 300

Patent

active

051161800

ABSTRACT:
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.

REFERENCES:
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patent: 4150803 (1979-04-01), Fernandez
patent: 4160508 (1979-07-01), Salisbury, Jr.
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patent: 4641251 (1987-02-01), Inoue
patent: 4661032 (1987-04-01), Arai
patent: 4831531 (1989-05-01), Adams et al.
Kohler, G. W. et al. "Elektrocho Master-Slave Manipulator", Atomkernenergie, vol. 48, No. 4, 1986, pp. 251-254.
"Manipulator Systems Extend Man's Capabilities in Space", Deutsch et al. Astronautics and Aeronautics, Jun. 1972.

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