Inner force sense controller for providing variable force to multidirectional moving object, method of controlling inner force sense and information storage medium used therein
First Claim
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1. An inner force sense controller for giving a force to a manipulator comprising:
- an actuator connected to said manipulator, and driving said manipulator in more than one direction;
a detector for detecting said current position of said manipulator;
a controller connected to said actuator and said detector, and producing a controlling signal representative of said force to be produced by said actuator;
a driver responsive to said controlling signal for energizing said actuator, thereby exerting said force to said manipulator; and
a determining means for determining the direction of a motion of said manipulator, and causing said controller to take said direction of said motion of said manipulator into account for determining the magnitude of said force.
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Abstract
An inner force sense controller includes an actuator for exerting a reaction force on a moving object such as a manipulator, a sensor for producing a detecting signal indicative of current position of the moving object and a controlling unit connected to the actuator and the sensor; the controlling unit calculates a current velocity so as to determine the direction of motion, and selects one of the data tables assigned to the direction of the motion for reading out a target reaction force; and the operator feels the inner force sense to be different depending upon the direction of the motion.
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Citations
21 Claims
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1. An inner force sense controller for giving a force to a manipulator comprising:
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an actuator connected to said manipulator, and driving said manipulator in more than one direction; a detector for detecting said current position of said manipulator; a controller connected to said actuator and said detector, and producing a controlling signal representative of said force to be produced by said actuator; a driver responsive to said controlling signal for energizing said actuator, thereby exerting said force to said manipulator; and a determining means for determining the direction of a motion of said manipulator, and causing said controller to take said direction of said motion of said manipulator into account for determining the magnitude of said force. - View Dependent Claims (2, 3, 4, 5)
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6. An inner force sense controller for giving a force to a manipulator comprising:
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an actuator connected to said manipulator, and driving said manipulator in more than one direction; a detector for detecting said current position of said manipulator; a controller connected to said actuator and said detector, and producing a controlling signal representative of said force to be produced by said actuator; and a driver responsive to said controlling signal for energizing said actuator, thereby exerting said force to said manipulator, wherein said controller determines a current velocity and a current acceleration on the basis of said current position, and decides the magnitude of said force on the basis of a combination of elements selected from the group consisting of said current position, said current velocity and said current acceleration. - View Dependent Claims (7, 8, 9, 12, 13)
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10. A method for controlling an inner force sense comprising the steps of:
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a) producing a piece of status information representative of a current status of a manipulator movable in more than one direction; b) determining the magnitude of a force on the basis of said current status and a direction of a motion of said manipulator; and c) exerting said force on said manipulator for imparting said inner force sense. - View Dependent Claims (11, 14, 15)
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16. An information storage medium for storing a controlling program, said controlling program comprising the steps of:
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a) producing a piece of status information representative of a current status of a manipulator movable in more than one direction; b) determining the magnitude of a force on the basis of said current status and a direction of a motion of said manipulator; and c) exerting said force on said manipulator for imparting said inner force sense. - View Dependent Claims (17, 18)
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19. An inner force sense controller for exerting a force on a manipulator movable in more than one direction by using an actuator, comprising a means for receiving a program through an information communicating network, said program including the steps of:
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a) producing a piece of status information representative of a current status of a manipulator movable in more than one direction; b) determining the magnitude of a force on the basis of said current status and a direction of a motion of said manipulator; and c) exerting said force on said manipulator for imparting said inner force sense. - View Dependent Claims (20, 21)
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Specification