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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
First Claim
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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.

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