Master/slave type manipulator

Details Master/slave type manipulator Master/slave type manipulator

1989-09-12

1991-05-28

Spar, Robert J.

Material or article handling

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

Electric or fluid motor drive for manipulator

901 8, B25J 304

Patent

active

050189220

ABSTRACT:
A force feeling type master/slave manipulator detects a positional difference, a speed difference, and a force difference between the master and slave machines. The position difference and force difference are combined in a weighted manner and the output is used to drive an actuator on the control lever of the master machine to provide a force feeling feedback effect. The position difference is also combined in a weighted manner with the speed difference and the speed of the working machine to provide a sum value. The load force is subtracted from the sum value and the result is used to provide a signal for driving the actuator of the working machine. As a result, stable operation of the control lever is provided, natural vibration of the working machine is reduced and the working machine is stabilized against large inertial loads.

REFERENCES:
patent: 3263824 (1966-08-01), Jones etal.
patent: 4531082 (1985-07-01), Yoshinada et al.
patent: 4661032 (1987-04-01), Arai
patent: 4807153 (1989-02-01), Onaga et al.
patent: 4888538 (1989-12-01), Dimitrou et al.
Raibert, M. H. et al., "Hybrid Position/Force Control of Manipulators"; Journal of Dynamic Systems, Measurement, and Control, 6/1981.

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