MANIPULATOR APPARATUS

• US 3,589,134 A
• Filed: 10/30/1969
• Issued: 06/29/1971
• Est. Priority Date: 10/30/1969
• Status: Expired due to Term

• Current Assignee: Donald W. Hunt, Robert L. Hackmann
• Original Assignee: Donald W. Hunt, Robert L. Hackmann
• Inventors: Hackmann, Robert L., Hunt, Donald W.
• Application Number:
  US04/872,704
• Time in Patent Office: 607 Days
• US Class Current: 405/191
• CPC Class Codes: B25J 9/046 Revolute coordinate type
• CPC Class Codes: B25J 9/106 with articulated links
• CPC Class Codes: G05B 19/427 Teaching successive positions by tracking the position of a joystick or handle to control the positioning servo of the tool head, master-slave control G05B19/423 takes precedence

Abstract

A manipulator arm assembly having three arm sections and shoulder, elbow and wrist pivotal joints. The third arm section carries a tool or the like. The rate of rotation of the shoulder pivotal joint is commanded by an operator and signal processing equipment commands the other two pivotal joints such that the tool travels in a straight line.

Claims

1. A control system for a manipulator assembly having a plurality of jointed arm sections, a last of which carries a terminal device, comprising:

a. a plurality of actuators for effecting relative pivotal movement between said arm sections;

b. a plurality of position sensors for providing respective position signals for said arm sections indicative of the angular orientation of said arm sections;

c. means for initially positioning said terminal device at a first coordinate point, d. signal processing means responsive to an input command for storing those position signals provided at said first coordinate point;

e. signal providing means for commanding movement of one of said actuators to move a first of said arm sections;

f. said signal processing means being responsive to i. said stored position signals, and ii. the position signal indicative of the angular orientation of said first of said arm sections as it is moved, for providing respective output signals to command the remaining actuators in accordance with a predetermined relationship, for moving said terminal device to a second coordinate point.

2. A control system according to claim 1 wherein:

a. said signal processing means provides output signals having a relationship to move said terminal device in a straight line between said first and second coordinate points.

3. A control system according to claim 1 wherein:

a. said manipulator assembly is carried by an undersea vehicle having a pressure hull; and

b. said signal providing means is positioned within said pressure hull for activation by an operator.

4. A control system according to claim 3 wherein:

a. said signal processing means is positioned within said pressure hull.

5. A control system as claimed in claim 1 wherein said signal providing means includes:

a. a joy stick, and b. means responsive to movement of said joy stick for providing a related voltage, said related voltage being provided to said one of said actuators.

6. A control system as claimed in claim 5 which includes a. switch means carried by said joy stick, b. a signal source;

and c. means including said switch means for connecting said signal source with said signal processor upon activation of said switch means; and

d. said connection effecting a storage of said position signals.

7. A control system for a manipulator assembly having a plurality of jointed arm sections, a last of which carries a terminal device, comprising:

a. a plurality of actuators each responsive to an input signal for effecting relative pivotal movement between said arm sections;

b. means for commanding one of said actuators to move a first of said arm sections, c. means responsive to the positional orientation of said commanded arm section for providing output signals to the remaining actuators for moving the remaining arm sections as a function of said positional orientation.