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Telerobotic tracker

  • US 4,942,538 A
  • Filed: 02/23/1989
  • Issued: 07/17/1990
  • Est. Priority Date: 01/05/1988
  • Status: Expired due to Fees
First Claim
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1. A telerobotic system adapted for handling a moving objects, said object having at least three points of known position, comprising:

  • (a) a robot manipulator comprising(i) a movable robotic arm having an effector for handling an object,(ii) means for moving said arm in response to arm input signals,(iii) means for sensing the position of said arm and for generating arm output signals, which arm output signals characterize the dynamic motion behaviour of said arm, and(iv) a video camera carried by said arm, said camera being adapted to respond in real time to real time motion of said moving object within the field of view of said camera;

    (b) a video monitor for receiving an input video signal from said video camera and for displaying an image of the object to a human operator;

    (c) image processing means, responsive to the output signal of said camera, for acquiring and pre-processing an image of the object on a frame by frame basis;

    (d) hand control means for generating a hand control output signal in response to input from a human operator;

    (e) computer means for generating arm input signals disposed between said hand control means, said robot manipulator, and said image processing means, said computer means receiving (i) output signals from said image processing means and (ii) said arm output signals and (iii) said hand control output signal and generating arm input signals in response to said received signals whereby said arm tracks the real time motion of the object.

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