Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1991-05-23
1993-11-30
Ip, Paul
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
3185681, 318628, 31856816, 395 95, 395 99, 901 9, G05B 1100
Patent
active
052668754
ABSTRACT:
A telerobotic system provides a means for transmitting data between a master and a remote slave unit with a time delay therebetween. The master and slave unit form a closed loop in which motion commands are transmitted from the master to the slave and force data is transmitted back from the slave to the master. Stability is obtained over time delay by means of transforming the motion data into a wave representation in transmission between the master and slave. The signal from the master to the slave may be characterized generally as u=F+bx while the signal from the slave to the master may be characterized generally as v=F-bx where F equals the force imparted by the environment, x equals the velocity commanded by the master, and b is a characteristic wave impedance.
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Niemeyer Gunter D.
Slotine Jean-Jacques E.
Ip Paul
Massachusetts Institute of Technology
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