System and method for remotely positioning an end effector

• US 9,120,226 B2
• Filed: 10/16/2013
• Issued: 09/01/2015
• Est. Priority Date: 10/23/2012
• Status: Active Grant

• Current Assignee: Lincoln Global Incorporated (Lincoln Electric Holdings Incorporated)
• Original Assignee: Lincoln Global Incorporated (Lincoln Electric Holdings Incorporated)
• Inventors: Williams, Christopher, Dailey, Dan, Oxford, Andrew, Savalia, Yogesh, White, Bryan
• Primary Examiner(s): Tran, Dalena
• Application Number:
  US14/055,070
• Publication Number:
  US 20140114478A1
• Time in Patent Office: 685 Days
• Field of Search: 700 83- 85, 700/159, 700/160, 700/168, 700/186, 700/188, 700/192, 700/193, 700/257, 700/264, 700/180, 700/253, 318/567, 318/568.12, 318/568.13, 318/568.16, 318/568.19, 318/568.21, 318/568.25
• US Class Current: 1/1
• CPC Class Codes: B25J 9/1628 characterised by the control loop
• CPC Class Codes: B25J 9/1656 characterised by programming, planning systems for manipulators
• CPC Class Codes: G05B 19/409 characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters G05B19/408, G05B19/4093 take precedence
• CPC Class Codes: G05B 2219/36159 Detachable or portable programming unit, display, pc, pda
• CPC Class Codes: G05B 2219/37388 Acceleration or deceleration, inertial measurement

Abstract

A system for remotely positioning an end effector includes a sensor in an input device aligned with an axis to generate a signal reflective of an angular displacement of the sensor about the axis. A processor receives the signal and executes a set of logic stored in a memory to filter the signal, smooth the signal, and generate a control signal to the end effector that is proportional to the angular displacement of the sensor about the axis. A method for remotely positioning an end effector includes moving an input device, sensing an angular displacement of a sensor from an axis, generating a signal reflective of the angular displacement of the sensor about the axis, smoothing the signal, and generating a control signal to the end effector that is proportional to the angular displacement of the sensor about the axis.

Claims

1. A system for remotely positioning an end effector, comprising:

a. an input device;

b. a first sensor in the input device, wherein the first sensor is aligned with a first axis and configured to generate a first signal reflective of a first angular displacement of the first sensor about the first axis; and

c. a processor in communication with the first sensor such that the processor receives the first signal, wherein the processor is configured to execute a first set of logic stored in a memory that causes the processor to filter the first signal, smooth the first signal, and generate a first control signal to move the end effector in a first direction and at a first rate that is proportional to the first angular displacement of the first sensor about the first axis.

2. The system as in claim 1, further comprising a second sensor in the input device, wherein the second sensor is aligned with a second axis orthogonal to the first axis and configured to generate a second signal reflective of a second angular displacement of the second sensor about the second axis;

and the processor in communication with the second sensor such that the processor receives the second signal, wherein the processor is configured to execute the first set of logic stored in the memory that causes the processor to filter the second signal, smooth the second signal, and generate a second control signal to move the end effector in a second direction and at a second rate that is proportional to the second angular displacement of the second sensor about the second axis.

3. The system as in claim 2, further comprising a third sensor in the input device, wherein the third sensor is aligned with a third axis orthogonal to the first and second axes and configured to generate a third signal reflective of a third angular displacement of the third sensor about the third axis;

and the processor in communication with the third sensor such that the processor receives the third signal, wherein the processor is configured to execute the first set of logic stored in the memory that causes the processor to filter the third signal, smooth the third signal, and generate a third control signal to move the end effector in a third direction and at a third rate that is proportional to the third angular displacement of the third sensor about the third axis.

4. The system as in claim 3, wherein the processor is configured to execute the first set of logic stored in the memory to normalize the first, second, and third signals.

5. The system as in claim 1, further comprising an interlock having a first position that prevents the end effector from responding to the first control signal.

6. The system as in claim 1, wherein the processor is configured to execute a second set of logic stored in the memory to modify the first set of logic for different end effectors.

7. The system as in claim 1, wherein the processor is configured to execute a third set of logic stored in the memory to adjust a rate of change of the first control signal in response to a rate of change of the first signal.

8. A system for remotely positioning an end effector, comprising:

a. an input device;

b. an accelerometer in the input device, wherein the accelerometer is configured to generate a first signal reflective of a first angular displacement of the accelerometer from a first axis; and

c. a processor in communication with the accelerometer such that the processor receives the first signal, the processor configured to execute a first set of logic stored in a memory that causes the processor to smooth the first signal and generate a first control signal to move the end effector in a first direction and at a first rate that is proportional to the first angular displacement of the accelerometer about the first axis.

9. The system as in claim 8, wherein the accelerometer is configured to generate a second signal reflective of a second angular displacement of the accelerometer from a second axis orthogonal to the first axis;

and the processor in communication with the accelerometer such that the processor receives the second signal, the processor configured to execute the first set of logic stored in the memory to smooth the second signal and generate a second control signal to move the end effector in a second direction and at a second rate that is proportional to the second angular displacement of the accelerometer about the second axis.

10. The system as in claim 9, wherein the accelerometer is configured to generate a third signal reflective of a third angular displacement of the accelerometer from a third axis orthogonal to the first and second axes;

and the processor in communication with the accelerometer such that the processor receives the third signal, the processor configured to execute the first set of logic stored in the memory to smooth the third signal and generate a third control signal to move the end effector in a third direction and at a third rate that is proportional to the third angular displacement of the accelerometer about the third axis.

11. The system as in claim 10, wherein the processor is configured to execute the first set of logic stored in the memory to normalize the first, second, and third signals.

12. The system as in claim 8, further comprising an interlock having a first position that prevents the end effector from responding to the first control signal.

13. The system as in claim 8, wherein the processor is configured to execute a second set of logic stored in the memory to modify the first set of logic for different end effectors.

14. The system as in claim 8, wherein the processor is configured to execute a third set of logic stored in the memory to adjust a rate of change of the first control signal in response to a rate of change of the first signal.

15. A method for remotely positioning an end effector, comprising:

a. moving an input device;

b. sensing a first angular displacement of a first sensor about a first axis;

c. generating a first signal reflective of the first angular displacement of the first sensor about the first axis;

d. smoothing the first signal; and

e. generating a first control signal to move the end effector in a first direction and at a first rate that is proportional to the first angular displacement of the first sensor device about the first axis.

16. The method as in claim 15, further comprising sensing a second angular displacement of a second sensor about a second axis orthogonal to the first axis;

generating a second signal reflective of the second angular displacement of the second sensor about the second axis;

smoothing the second signal; and

generating a second control signal to move the end effector in a second direction and at a second rate that is proportional to the second angular displacement of the second sensor about the second axis.

17. The method as in claim 16, further comprising sensing a third angular displacement of a third sensor about a third axis orthogonal to the first and second axes;

generating a third signal reflective of the third angular displacement of the third sensor about the third axis;

smoothing the third signal; and

generating a third control signal to move the end effector in a third direction and at a third rate that is proportional to the third angular displacement of the third sensor device about the third axis.

18. The method as in claim 15, further comprising preventing the end effector from moving unless an interlock is satisfied.

19. The method as in claim 15, further comprising mapping the first control signal for different end effectors.

20. The method as in claim 15, further comprising adjusting a rate of change of the first control signal in response to a rate of change of the first signal.