Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2005-02-08
2005-02-08
Nguyen, Thu V. (Department: 3661)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C701S041000, C180S006200
Reexamination Certificate
active
06853877
ABSTRACT:
A mobile base movable relative to a surface is disclosed. The base includes a main housing having at least two wheels pivotably and rotatably mounted to the housing with each wheel having a steering axis and a rotation axis. The steering and rotation axes are nonintersecting and are offset by a known caster distance. Further, included are drive means for rotating the wheels to roll along the surface, steering means for pivoting the wheels and changing their heading with respect to the surface, and controller means for reading an input vector from a host processor. The input vector is a three dimensional force torque vector.
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Holmberg Robert
Legrand Richard M.
Slater James C.
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