Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2000-01-06
2001-10-09
Cuchlinski, Jr., William A. (Department: 3661)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S245000, C700S248000, C700S257000, C700S262000, C700S263000, C700S264000, C901S003000, C901S027000, C901S028000, C901S030000, C901S034000, C901S036000, C074S490010, C074S490020, C074S490030, C074S490050, C074S490060, C600S001000, C600S109000, C600S118000, C600S559000, C606S130000
Reexamination Certificate
active
06301526
ABSTRACT:
BACKGROUND OF THE INVENTION
1. Technical Field
The present invention relates to a master device having a force reflecting function mounted to a human arm, and more particularly to a master device having reflecting function for solving problems of human fatigue, caused from dead weight, and operational complexity by simplifying a master device into a serial chain configuration and concentrating a torque generating unit near the body, in which the master device generates operation instruction of a slave robot by sensing motion of an arm of an operator and reflects operation limit information, caused from external force sensed by the slave robot and physical limitation of articulation with use of, such as, brake motor or servo motor.
2. Description of the Prior Art
Robots are generally used in various industries, but in an early stage the robot are adapted in difficult and dangerous tasks such as die casting, forging, and spot welding.
With development of the industrial robot, a multipurpose remote-controlled robot having a high degree of freedom is required and developed to operate various works instead of human.
A remote controller is required to manipulate various operations of the robot, and the remote controller is now developed to have various shapes and functions.
Therefore, such robot remote controlling device enables an operator to manage motion of the robot personally in order to accomplish any required works in a special circumference such as a faraway or dangerous works.
In order to control an industrial or anthropomorphic robot operator efficiently, used is a master adjusting device having a similar shape to a slave robot to be controlled or an anthropomorphic master control device which can be directly attached to an arm of human as a controller.
The anthropomorphic master control device has an advantage of inputting natural motion of human into the master device so that many variations are studied and developed.
However, most of such anthropomorphic master devices exert significant load on the operator with absolute weight of its electrical motor and weight of a supporter for mounting the device onto an arm of human, which causes it impossible to operate for long time and makes it difficult to control with dead weight and inertia.
Therefore, there is a need to develop a master device which can be mounted to an arm of human and also reduce its weight.
SUMMARY OF THE INVENTION
The present invention is designed to solve the above problems. Therefore, an object of the present invention is to provide a master device having a force reflecting function mounted to an operator arm for solving problems of human fatigue, caused from dead weight, and operational complexity by simplifying a master device into a serial chain configuration and concentrating a torque generating unit near the body.
In order to accomplish the object, the present invention provides a master device having force reflecting function attached to a body of an operator for controlling robot remotely, comprising:
first combining means fixed to an upper portion of a back of the operator;
second and third combining means connected and fixed to upper and lower portions of an elbow of the operator;
fourth combining means connected and fixed to a back of a hand of the operator;
first rotating shaft means fixed to the first combining means, the first rotating shaft means having a plurality of cylindrical rotating shaft members;
first connecting means of which one end is joined to the first rotating shaft means and the other end is serially connected through a plurality of rotating link members to a plurality of connecting members joined to the second combining means;
third rotating shaft means having a plurality of cylindrical rotating shaft members joined to the second combining means through connecting members;
second rotating shaft means having cylindrical rotating shaft members, the second rotating shaft means joined between the second combining means and the third combining means through connecting members; and
second connecting means of which one end is joined to the fourth combining means and the other end is serially connected through a plurality of rotating link members to a plurality of connecting members joined to the third rotating shaft means,
wherein the first rotating shaft means senses motion of a shoulder of the operator, the second rotating shaft means senses motion of the elbow of the operator, and the third rotating shaft means senses motion of a wrist of the operator.
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Noakes, Teleoperator servoloop tuning using an expert system, 1990, IEEE, pp. 60-64.*
Lee et al., Sensors and actuators of wearable haptic master device for the disabled, 2000, IEEE, pp. 371-376.
Kim Mun Sang
Lee Chong Won
Lee Soo Yong
Bacon & Thomas
Cuchlinski Jr. William A.
Institute of Science and Technology
Marc McDieunel
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