Master-slave manipulators with scaling

Details Master-slave manipulators with scaling Master-slave manipulators with scaling

1987-11-20

1989-08-01

MacDonald, Allen

Boots, shoes, and leggings

414 2, 901 4, 901 8, B25J 300

Patent

active

048538744

ABSTRACT:
In a controlling apparatus of a manipulator equipped with a master arm and a slave arm, a processing device is provided for effecting scale conversion calculation of a calculation result representing the position data of the master arm for expansion or reduction, and for outputting the result of this calculation to the slave arm.

REFERENCES:
patent: 4148403 (1979-04-01), Riffe
patent: 4298300 (1981-11-01), Francois et al.
patent: 4661032 (1987-04-01), Arai
Bilateral Control for Manipulators with Different Configerations; Arai et al; IECON '84; 1984.

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