Feedback for a manipulator

• US 5,103,404 A
• Filed: 12/20/1989
• Issued: 04/07/1992
• Est. Priority Date: 12/06/1985
• Status: Expired due to Fees

• Current Assignee: Tensor Development Incorporated
• Original Assignee: Tensor Development Incorporated
• Inventors: McIntosh, James L.
• Primary Examiner(s): CANGIALOSI, SALVATORE A
• Application Number:
  US07/453,325
• Time in Patent Office: 839 Days
• Field of Search: 364/513, 318/628, 318/566, 318/568, 318/569, 318/600, 318/632, 318/568.11, 318/568.16, 318/568.22, 318/568.23, 901/9, 901/20, 901/33, 901/34, 901/38, 901/49, 901/50, 414/1, 414/2, 414/4, 414/5
• US Class Current: 318/568.22
• CPC Class Codes: A63B 21/0058 using motors
• CPC Class Codes: A63B 2220/16 Angular positions
• CPC Class Codes: A63B 24/00 Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
• CPC Class Codes: B23P 19/066 by electrical means
• CPC Class Codes: G05B 19/237 with a combination of feedback covered by G05B19/232 - G05B19/235
• CPC Class Codes: G05B 19/4142 characterised by the use of a microprocessor G05B19/4141 takes precedence
• CPC Class Codes: G05B 2219/37297 Two measurements, on driving motor and on slide or on both sides of motor
• CPC Class Codes: G05B 2219/37388 Acceleration or deceleration, inertial measurement
• CPC Class Codes: G05B 2219/37391 Null, initial load, no load torque detection or other parameter at no load
• CPC Class Codes: G05B 2219/37612 Transfer function, kinematic identification, parameter estimation, response
• CPC Class Codes: G05B 2219/37621 Inertia, mass of rotating, moving tool, workpiece, element
• CPC Class Codes: G05B 2219/41023 Large pd gain initially switched to smaller pd gain afterwards
• CPC Class Codes: G05B 2219/42152 Learn, self, auto tuning, calibrating, environment adaptation, repetition
• CPC Class Codes: G05B 2219/42168 Measuring of needed force for servo

Abstract

A programmable variable degree of tactile feedback for the operation of a manipulator by a pair of motors, one connected to the load and one to the control. Computer controlled four quadrant regulators for each motor are used to drive the load motor shaft to the same position as the control motor shaft and to vary the feedback force on the control motor in proportion to selected forces developed during the manipulation process.

Claims

1. A system for controlling movement of a manipulator using determined force-related parameters and adapted to move a load using the manipulator, comprising:

a manipulator adapted to be moved in a controlled manner;

load motor means operatively connected to said manipulator for causing movement thereof; and

controlling means operatively connected to said load motor means for using at least two of the following force-related parameters;

mass, distance moved, velocity and acceleration associated with at least one of said manipulator and said load motor means, in controlling said load motor means to cause movement of said manipulator, said controlling means including processing means wherein said force-related parameters are determined using said processing means, said determined force-related parameters being used in calculating a force-related magnitude wherein said force-related magnitude relates to at least one of the following;

(a) total system forces developed while moving said manipulator, (b) a force outputted by said load motor means, (c) a force induced by the load while moving said manipulator, said controlling means further including means for changing the ratio of forces among;

said total system forces, said force outputted by said load motor means and said load induced force to provide a desired blend of feedback force.

2. A system, as claimed in claim 1, wherein:

said controlling means includes control motor means for providing tactile feedback to an operator of the system.

3. A system, as claimed in claim 1, wherein:

said processing means includes programming means having preprogrammed instructions, said preprogrammed instructions and said force-related parameters for controlling said load motor means.

4. A system, as claimed in claim 2, wherein:

said control motor means includes encoder means for providing a magnitude relating to distance moved and said load motor means includes encoder means for providing a magnitude relating to distance moved and wherein said processing means determines a magnitude relating to a difference between said magnitudes of said encoder means of said control motor means and said encoder means of said load motor means and said difference is used in providing an input to said load motor means.

5. A system, as claimed in claim 1, wherein:

said means for changing includes programmed instructions and said programmed instructions are used to automatically change said control force ratio based on system parameter information including whether or not contact is made between said manipulator and the load.

6. A system, as claimed in claim 1, wherein:

said processing means having preprogrammed instructions for calibrating at least a first component of the system.

7. A system, as claimed in claim 6, wherein:

said first component includes said load motor means.

8. A system, as claimed in claim 1, wherein:

said processing means having preprogrammed instructions for determining the mass of the load operatively held by said manipulator.

9. An apparatus, as claimed in claim 1, wherein:

said processing means having preprogrammed instructions for causing substantial convergence between an output of said load motor means and information used by said processing means.

10. A system, as claimed in claim 9, wherein:

said controlling means includes control motor means and said information includes an output provided by said control motor means.

11. An apparatus, as claimed in claim 4, wherein:

said processing means includes programming means having preprogrammed instructions for causing a substantial convergence between an output of said control motor means encoder means and said load motor means encoder means.

12. A system, as claimed in claim 1, wherein:

said processing means having preprogrammed instructions for determining information relating to contact being made between said manipulator and the load.

13. A system, as claimed in claim 1, wherein:

said programming means determines a distance using movement of said load motor means.

14. A system, as claimed in claim 1, wherein:

movement of said manipulator is accomplished using at least one of manual operation and automatic operation.

15. A system, as claimed in claim 1, wherein said controlling means includes:

a plurality of moving actuator means;

support means engaging said plurality of actuator means; and

means for determining a magnitude relating to distance using at least the movement of one of said plurality of actuator means and at least portions of said support means.

16. An apparatus, as claimed in claim 15, wherein:

said plurality of actuator means includes at least a non-linear moving first piezo element.

17. A system, as claimed in claim 15, wherein:

said support means includes a number of levers operatively connected to each of said plurality of actuator mean wherein said levers are movable in response to movement of said actuator means.