Manipulator controlling apparatus

Details Manipulator controlling apparatus Manipulator controlling apparatus

1989-08-18

1990-08-21

Spar, Robert J.

Material or article handling

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

Electric or fluid motor drive for manipulator

901 8, 901 9, B25J 304

Patent

active

049501160

ABSTRACT:
Apparatus for controlling a manipulator employs a control device, first to third detectors, a producing device and a driving device. The first detector detects an operating force/torque generated by the control device and the second detector detects a deflecting amount of the control device from a reference position. The third detector detects an end force applied on an end portion of the manipulator and reaction signals are generated by the producing device. The reaction signal corresponds to a function of the deflecting amount and the end force. A force/torque corresponding to the difference between output signals from the first detector and the producing device are generated by the driving device and applied on the control device.

REFERENCES:
patent: 3578270 (1971-05-01), Ellis
patent: 4150803 (1979-04-01), Fernandez
patent: 4640663 (1987-02-01), Niinomi et al.
patent: 4661032 (1987-04-01), Arai

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