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Master-slave manipulators with scaling

  • US 4,853,874 A
  • Filed: 11/20/1987
  • Issued: 08/01/1989
  • Est. Priority Date: 12/12/1986
  • Status: Expired due to Term
First Claim
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1. In a manipulator equipped with a master arm having a plurality of links connected to one another by joints to provide a terminal end which is moveable within a reference coordinate system and a slave arm having a plurality of links connected to one another by joints, a controlling apparatus for controlling said slave arm to follow the motion of said master arm comprising:

  • position sensors each for sensing a displacement of each of said joints of said master arm and for providing displacement data indicative thereof;

    processing means for calculating the position of the terminal end of said master arm in said reference coordinate system on the basis of said displacement data, for executing expansion or reduction scale conversion of the result of said calculation and for determining a reference displacement value for each of said joints of said slave arm on the basis of a scale-converted result of calculation; and

    servo controller means for controlling each of said joints of said slave arm in accordance with a reference displacement value from said processing means.

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