Boots – shoes – and leggings
Patent
1989-06-08
1991-10-01
MacDonald, Allen R.
Boots, shoes, and leggings
364191, B25J 3100
Patent
active
050539752
ABSTRACT:
After positional information of the master arm is transformed into first generalized world coordinates corresponding to positional information representing a calculated position of the slave arm, when a signal instructing an interruption of the associated operation between the master arm and the slave arm is received and then the positional relationships between the master arm and the slave arm connected thereto by use of an imaging device are updated, the first generalized world coordinates are transformed into the second generalized world coordinates based on the new positional relationships so as to restart the associated operation therebetween. The optimal control of the manipulator is conducted through matrix operations related to the change-over between imaging devices, the reset operation conducted in an area of the movable range of the master arm, and the alteration of the ratio between the movements of the associated operation.
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patent: 4068156 (1978-01-01), Johnson et al.
patent: 4385358 (1983-05-01), Ito et al.
patent: 4613943 (1986-09-01), Miyake et al.
patent: 4661032 (1987-04-01), Arai
patent: 4853874 (1989-08-01), Iwamoto et al.
patent: 4891767 (1990-01-01), Rzasa et al.
Katsuhisa Furuta et al., "Master-Slave Manipulator Based on Virtual Internal Model Following Control Concept," Proceedings 1987.
International Conference on Robotics and Automation, vol. 1, Apr. 1987, pp. 567-572.
Aoki Tatsu
Iwamoto Taro
Nakajima Kichio
Takarada Shinichi
Tsuchihashi Akira
Davis George
Hitachi , Ltd.
MacDonald Allen R.
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