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Master/slave type manipulator

  • US 5,018,922 A
  • Filed: 09/12/1989
  • Issued: 05/28/1991
  • Est. Priority Date: 03/26/1987
  • Status: Expired due to Fees
First Claim
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1. A master/slave type manipulator comprising:

  • slaver means in the form of a working machine operated by a first actuator;

    master means in the form of a control lever similar to said working machine and having a second actuator providing a torque to said control lever in a direction opposite to an operating direction of the control lever;

    a first position sensor for detecting an actuated position of the working machine;

    a first speed sensor for detecting a shifting speed of the working machine;

    a second position sensor for detecting an operating position of the control lever;

    a second speed sensor for detecting an operating speed of the control lever;

    means for detecting a load acting on the working machine;

    means for detecting a torque applied to the control lever;

    first means for calculating a difference between an output of said first position sensor and an output of said second position sensor;

    second means for calculating a difference between an output of said load detecting means and an output of said torque detecting means;

    third means for calculating a difference between an output of said first speed sensor and an output of said second speed sensor;

    fourth calculating means for weighting respectively and adding together an output of said first calculating means and an output of said second calculating means and for subtracting a weighted value of an output of said third calculating means from said weighted and added values;

    first driving means for driving said second actuator in accordance with said subtracted value of said fourth calculating means;

    fifth calculating means for summing the output of said first calculating means, and a weighted output of said first speed sensor, and for subtracting the output of said load detecting means from said sum; and

    second driving means for driving said first actuator in accordance with an output of said fifth calculating means.

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