Multi-Mode Manipulator Arm and Drive System
First Claim
Patent Images
1. A manipulator drive system comprising:
- a. a rate mode selector switch configured to output a rate mode drive signal capable of driving a manipulator arm in a rate mode;
b. a spatially correspondent controller comprising a position adjustable master configured to output a spatially correspondent mode control signal responsive to the position of the master and capable of driving a manipulator arm in a spatially correspondent mode; and
c. a mode selector device operatively coupled to selectively receive at least one of the rate mode drive signal and the spatially correspondent mode control signal and to selectively output one of the rate mode control signal or the spatially correspondent mode control signal as the selected mode control signal.
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Abstract
The present invention relates to a manipulator arm and drive system that can be operated in multiple modes, including an on or off mode, referred to herein as a “rate mode” or a spatially correspondent (“SC”) mode. The multi-mode manipulator arm and drive system of the present invention can be hydraulically operated subsea.
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Citations
20 Claims
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1. A manipulator drive system comprising:
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a. a rate mode selector switch configured to output a rate mode drive signal capable of driving a manipulator arm in a rate mode;
b. a spatially correspondent controller comprising a position adjustable master configured to output a spatially correspondent mode control signal responsive to the position of the master and capable of driving a manipulator arm in a spatially correspondent mode; and
c. a mode selector device operatively coupled to selectively receive at least one of the rate mode drive signal and the spatially correspondent mode control signal and to selectively output one of the rate mode control signal or the spatially correspondent mode control signal as the selected mode control signal. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 16, 17)
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13. A manipulator drive system comprising:
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a. a rate mode selector switch configured to output a rate mode drive signal capable of driving a manipulator arm in a rate mode;
b. a spatially correspondent hand controller comprising a position adjustable master configured to output a spatially correspondent mode control signal responsive to the position of the master and capable of driving a manipulator arm in a spatially correspondent mode;
c. a mode selector device operatively coupled to selectively receive at least one of the rate mode drive signal and the spatially correspondent mode control signal and to selectively output one of the rate mode control signal or the spatially correspondent mode control signal as the selected mode control signal; and
d. a local control computer operatively connected to receive the selected mode control signal and to output a remote control signal. - View Dependent Claims (14, 15)
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18. A manipulator drive system comprising:
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a. a rate mode selector switch configured to output a rate mode drive signal capable of driving a manipulator arm in a rate mode;
b. a spatially correspondent hand controller comprising a position adjustable master configured to output a spatially correspondent mode control signal responsive to the position of the master and capable of driving a manipulator arm in a spatially correspondent mode;
c. a mode selector device operatively coupled to selectively receive at least one of the rate mode drive signal and the spatially correspondent mode control signal and to selectively output one of the rate mode control signal or the spatially correspondent mode control signal as the selected mode control signal;
d. a local control computer operatively connected to receive the selected mode control signal and to output a remote control signal; and
e. a remote control computer comprising telemetry electronics and software and operatively connected to the local control computer to receive the remote control signal and to output an actuator control input signal. - View Dependent Claims (19, 20)
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Specification