Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1997-10-16
1999-09-14
Ip, Paul
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
3185681, 31856811, 318632, 318640, G05B 1924, G10F 102, G06F 1500
Patent
active
059528060
ABSTRACT:
An inner force sense controller includes an actuator for exerting a reaction force on a moving object such as a manipulator, a sensor for producing a detecting signal indicative of current position of the moving object and a controlling unit connected to the actuator and the sensor; the controlling unit calculates a current velocity so as to determine the direction of motion, and selects one of the data tables assigned to the direction of the motion for reading out a target reaction force; and the operator feels the inner force sense to be different depending upon the direction of the motion.
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Ip Paul
Yamaha Corporation
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