Servo-controlled mobility device

Details Servo-controlled mobility device Servo-controlled mobility device

1974-05-29

1979-05-29

Rubinson, Gene Z.

Electricity: motive power systems

Positional servo systems

Adaptive or optimizing systems including 'bang-bang' servos

318646, 318648, 364105, G05B 1300

Patent

active

041568354

ABSTRACT:
A servo system includes a servo loop incorporating an articulated mechanical arm or other controllable element, resolved motion rate control apparatus or other coordinate transformation apparatus, and an accommodation branch. The transfer characteristics may be readily adjusted to constrain the controllable element to accomplish a desired task, and the accommodation branch transfer characteristics may be readily modified to accomplish the performance of many different tasks without modifications to other portions of the system.

REFERENCES:
patent: 3543910 (1970-12-01), Devol
patent: 3548172 (1970-12-01), Centner et al.
patent: 3622767 (1971-11-01), Koepcke
patent: 3849712 (1974-11-01), Lankford et al.
"The Robot Revolution", Machinery, Aug. 68, vol. 79, No. 12, pp. 63-67.
"Resolved Motion Rate Control of Manipulators and Human Prostheses", Whitney, Daniel E., IEEE Transactions on Man-Machine Systems, vol. MMS-10, No. 2, Jun. 1969.
Whitney, D. E., "The Mathematics of Coordinated Control of Prosthetic Arms and Manipulators", Transactions of the ASME, Paper No. 72-WA/Aut-4, 1972.
Beckett et al., "Controlling a Remote Manipulator with Aid of a Small Computer", ASME Paper No. 70-DE-18, 1970.

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