Null seeking system for remote center compliance device

Details Null seeking system for remote center compliance device Null seeking system for remote center compliance device

1981-07-31

1983-10-18

Haroian, Harry N.

Geometrical instruments

Area integrators

Electrical

33174L, 33172D, G01B 525

Patent

active

044097360

ABSTRACT:
A null seeking control system for a remote center compliance (RCC) device including: detector means for sensing the position of the operator means of an RCC device relative to the fixed portion of that RCC device; a threshold circuit, responsive to the detector means, for determining for each degree of freedom whether the operator means is at a null region, offset in a first direction or offset in a second direction relative to the fixed portion of the RCC device; and a correction circuit, responsive to the threshold circuit, for providing an error correction signal to maintain the null position of the operator means relative to the fixed portion of the RCC device.

REFERENCES:
patent: 4078314 (1978-03-01), McMurtry
patent: 4203225 (1980-05-01), Nilsson
patent: 4283153 (1981-08-01), Brendamour
patent: 4316329 (1982-02-01), Watson

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