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

• Current Assignee: Kabushiki Kaisha Komatsu Seisakusho (Komatsu Ltd.)
• Original Assignee: Kabushiki Kaisha Komatsu Seisakusho (Komatsu Ltd.)
• Inventors: Takeda, Shu, Yoshinada, Hiroshi
• Primary Examiner(s): Spar, Robert J.
• Assistant Examiner(s): HIENZ III, WILLIAM
• Application Number:
  US07/406,073
• Time in Patent Office: 623 Days
• Field of Search: 414/5, 414/909, 901/8, 901/9, 244/234, 244/236, 244/237
• US Class Current: 414/5
• CPC Class Codes: B25J 3/04 involving servo mechanisms servo-actuated heads B25J15/02

Abstract

A force feeling type master/slave manipulator detects a positional difference, a speed difference, and a force difference between the master and slave machines. The position difference and force difference are combined in a weighted manner and the output is used to drive an actuator on the control lever of the master machine to provide a force feeling feedback effect. The position difference is also combined in a weighted manner with the speed difference and the speed of the working machine to provide a sum value. The load force is subtracted from the sum value and the result is used to provide a signal for driving the actuator of the working machine. As a result, stable operation of the control lever is provided, natural vibration of the working machine is reduced and the working machine is stabilized against large inertial loads.

Claims

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.

2. A master/slave type manipulator as set forth in claim 1, wherein said first actuator is a hydraulic cylinder, said second driving means is a flow control servo valve, and said load detecting means is a pressure sensor for detecting a pressure difference between a pair of oil lines disposed between said hydraulic cylinder and said flow control servo valve.

3. A master/slave type manipulator as set forth in claim 1, wherein said second actuator is a torque motor.

4. A master/slave type manipulator as set forth in claim 2, wherein said second actuator is a torque motor.