Tool and material manipulation apparatus and method

• US 4,636,137 A
• Filed: 08/06/1984
• Issued: 01/13/1987
• Est. Priority Date: 10/24/1980
• Status: Expired due to Term

• Current Assignee: Jerome H. Lemelson
• Original Assignee: Jerome H. Lemelson
• Inventors: Lemelson, Jerome H.
• Primary Examiner(s): NOT, DEFINED
• Application Number:
  US06/638,432
• Time in Patent Office: 890 Days
• Field of Search: 414/626, 414/730, 414/591, 414/744, 414/751-753, 414/786, 318/568, 343/225, 337/37, 358/93, 358/100, 358/101, 364/107, 364/117, 364/478, 364/513, 325/37, 187/1 R, 294/64 R, 901/1, 901/46
• US Class Current: 414/730
• CPC Class Codes: B25J 15/0491 comprising end-effector racks
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 5/005 mounted on endless tracks or belts
• CPC Class Codes: B25J 9/041 Cylindrical coordinate type
• CPC Class Codes: G05B 19/425 Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
• CPC Class Codes: G05B 2219/33192 Radio link, wireless
• CPC Class Codes: G05B 2219/33207 Physical means, radio, infra red, ultrasonic, inductive link
• CPC Class Codes: G05B 2219/36395 Load local computer program from host, data transfer ram to rom, BTR
• CPC Class Codes: G05B 2219/36511 Select by a detector
• CPC Class Codes: G05B 2219/36513 Select out of a plurality of programs, patterns
• CPC Class Codes: G05B 2219/37553 Two cameras one for coarse scanning, other for fine scanning
• CPC Class Codes: G05B 2219/37572 Camera, tv, vision
• CPC Class Codes: G05B 2219/40283 Reservoir with additional material on vehicle with manipulator
• CPC Class Codes: G05B 2219/40284 Toolrack on vehicle with manipulator, toolchanger
• CPC Class Codes: G05B 2219/40298 Manipulator on vehicle, wheels, mobile
• CPC Class Codes: G05B 2219/45045 Maintenance, automatic storage and retrieval system

Abstract

A manipulator has a carriage adapted for free travel movement along a surface and a reversible first motor for driving the carriage. An upstanding support is mounted on the carriage and a manipulation arm assembly is supported for movement on the upstanding support. A reversible second motor drives the arm assembly on the upstanding support. An operating head includes a tool supported at the end of the manipulation arm assembly. A remote control mechanism operates the first and second motors and the operating head at a remote location. A first television camera is supported at the upper end of the upstanding support and adapted to scan a first image field in front of the manipulator. A second camera is supported by the manipulation arm assembly and adapted to scan a second image field including the operating head and an article to be operated on by the operating head. Video signals are transmitted by a transmitting mechanism and received to display picture information defined by the first and second image fields scanned by the first and second television cameras to permit a person operating the remote control mechanism at the remote location to view an area immediately in front of the manipulator, the operating head and an area immediately in front of the operating head. Another feature is directed to a cycle initiating circuit for initiating operation of a program control circuit to cause it to generate command control signals which operate a plurality of motors causing various movements in an article manipulation apparatus. A wireless signal transmitter and wireless receiver circuitry operate with short wave command control signals to effectuate remote control of the manipulation apparatus.

Claims

1. Article manipulation apparatus comprising:

(a) a manipulator including a carriage having transport means adapted to support and guide said carriage on a ground surface,

(b) a manipulator arm assembly supported by said carriage and including a tool head,

(c) first power means for propelling and maneuvering said transport means across said ground surface in an infinite number of directions so as to permit the manipulator to reach different locations and to attain different positions on said surface,

(d) second power means including a plurality of separately operable motors for operating said arm assembly,

(e) first control means for controlling said plurality of motors to cause said arm assembly to execute various maneuvers,

(f) said first control means including input means for receiving command control signals, and

(g) respective closed loop control means for each of said motors connected to said input means,

(h) program control means for generating a plurality of command control signals which are operative for controlling said plurality of motors defining said second power means for causing said arm assembly to execute a programmed maneuver,

(i) said program control means being connected to said input means to permit the signals generated thereby to be applied to said closed loop control means for respective of said motors,

(j) cycle initiating means for initiating operation of said program control means to cause it to generate said command control signals,

(k) remote control means for said manipulator located at a monitor station and including a command control signal generator and a wireless signal transmitter connected to transmit signals generated by said generator by shortwave,

(l) a wireless receiver supported by said manipulator for receiving said shortwave command control signals transmitted thereto by said transmitter, said receiver being connected for selectively controlling operation of said first power means and said motors defining said second power means in accordance with signals received from said transmitter so as to permit said carriage to be remotely controlled in its movement and to remotely control the movement of and predeterminately position said arm assembly and said carriage by applying said command control signals to said closed loop control means for respectively operating said motors,

(m) a first television camera disposed on said manipulator, a second television camera disposed on said tool head and arranged to always have its scanning axis in a direction toward said tool head, motor means for driving said first television camera to scan the area in the immediate vicinity of the manipulator along a plurality of axes which are different than said scanning axis of said second television camera, and a television receiver at said monitor station for signals generated by said cameras whereby movement of said tool head can be viewed by the first and second television cameras to control said manipulator,

(n) said cycle initiating means being operable when said manipulator is predeterminately located for causing said program control means to generate said command control signals and to thereby control the operation of said manipulator to execute a programmed cycle of operation.

2. An apparatus in accordance with claim 1 including

means for remotely controlling said cycle initiating means to switch from remote controlled operation of said manipulator to the operation thereof under the control of said program control means.

3. An apparatus in accordance with claim 1 including

video signal analyzing means for receiving signals from said first and second television cameras and transmitting signals to said remote control means for permitting the selective remote controlled operation of said first and second power means.

4. An apparatus in accordance with claim 1 wherein

said cycle initiating means includes (1) means located on the manipulator for detecting the surface of an object and generating a cycle control signal and (2) means for applying said cycle control signal to cause said program control means to control the operation of said manipulator thereafter.

5. An apparatus in accordance with claim 4 including manually operable means for operating said remote control means to control the operation of said first and second power means to both vary the location of the manipulator and remotely control the operation of said manipulator arm assembly.

6. An apparatus in accordance with claim 4 including means for activating and deactivating said cycle control initiating means from said monitor station.

7. An apparatus in accordance with claim 1 wherein said program control means includes an erasable recording means for command control signals for predeterminately controlling the operation of said manipulation apparatus, said remote control means being operable for controlling operation of said recording means to selectively reporduce command control signals therefrom and to effect the recording of new command control signals therein for causing the manipulator to execute various new operations.

8. A remote controlled manipulation apparatus comprising:

(a) an article manipulator having a support including means for propelling said support across a surface,

(b) a manipulation fixture supported above said support and having at least one article seizing means and power operated connection means between said seizing means and support to permit said seizing means to be variably maneuvered above said support to align it with various articles to be picked up and released by said manipulator,

(c) means located at a remote station for remotely controlling said manipulator,

(d) a first video scanner mounted on said support,

(e) means for movably supporting said first video scanner on said support,

(f) a second video scanner mounted on said article seizing means and arranged to always have its scanning axis in a direction toward said article seizing means,

(g) motor means for driving said first video scanner to scan an image field adjacent said manipulator along different axes,

(h) monitor means located at said remote station having a screen for viewing information scanned by said first and second video scanners and means for transmitting video signals from said first and second video scanners to said monitor means,

(i) control means at said remote station for controlling said motor means for driving said first video scanner to permit the scanning axis thereof to be remotely controlled whereby a person controlling the operation of said manipulator may selectively vary the scanning axis of said first video scanner to permit him to remotely view at least a portion of the area surrounding said manipulator,

(j) said second video scanner permitting said person to view along a fixed axis relative to said article seizing means,

(k) whereby said person can remotely control said manipulator and article seizing means.

9. An apparatus in accordance with claim 8 wherein said first video scanner comprises a television camera and a mount for said camera disposing it above the manipulator and article seizing means, said camera being rotatable on said mount and remotely controllable to rotate in a plurality of directions.

10. An apparatus in accordance with claim 9 wherein

said means for movably supporting said first video scanner includes first means for rotating said camera about a vertical first axis and second means for rotating said camera about a horizontal second axis,

said remote control means for said video scanner being operable to control the rotation of said camera about said first and second axes.

11. An apparatus in accordance with claim 8 wherein

said means for remotely controlling said manipulator includes a manually maneuverable transducing means which is variably positionable with respect to the screen of the monitor means permitting the transducing means to be positioned in operative relation with an image on the screen of said monitor means,

means for generating a plurality of control signals which vary in accordance with the location of said transducing means, and

means for applying said control signals to control the operation of the manipulator and to cause the article seizing means thereof to be directed along a path defined by the location of said transducing means when the transducing means is aligned with a particular portion of the image on the screen of said monitor means.

12. An apparatus in accordance with claim 11 wherein

said transducing means comprises a manually held transducer and means for generating signals representative of the coordinates of a particular portion of the screen of said monitor means with which said manually held transducer is aligned.

13. An apparatus in accordance with claim 12 including

means for causing said manipulator seizing means to travel in a path outwardly from the manipulator support defined by the location of said transducing means,

sensing means located on said seizing means for sensing the surface of an article towards which said seizing means is traveling and to generate a sensing control signal upon sensing an article, and

means responsive to said sensing control signal to slow down the movement of said seizing means to facilitate the remote control thereof thereafter in seizing the article sensed.

14. An apparatus in accordance with claim 8 including

means supported by said manipulator for generating shape indicating signals which are representative of the shape of an article scanned, and

a computer operable to receive said shape indicating signals and to discriminate same,

said computer being operable depending on the shape of an article to variably control the manipulator to cause said seizing means to pick up, predeterminately transport and release said article scanned.

15. An apparatus in accordance with claim 8 including

video signal analyzing means for receiving signals from said first and second video scanners and transmitting signals to said means for remotely controlling said manipulator.

16. Article manipulator apparatus comprising:

(a) a monitor station;

(b) a manipulator including a carriage having transport means adapted to support and guide said carriage on a planar surface,

(c) a manipulator arm assembly supported by said carriage and including a tool head,

(d) first power means for controlling and propelling said transport means across said planar surface in a plurality of directions so as to permit the manipulator to attain different positions,

(e) second power means for operating said arm assembly to cause it to execute various maneuvers,

(f) program control means for controlling said second power means for causing said arm assembly to repeatedly execute a program maneuver,

(g) stationary remote control means at said monitor station, sending means for control signals generated at said monitor station and receiving means located on said manipulator for said control signals for selectively remotely controlling operation of said first and second power means to change the position of said carriage and to predeterminately position said arm assembly and said carriage prior to initiating a programmed operation of the apparatus,

(h) a first television camera disposed on said manipulator, a second television camera disposed on said tool head and arranged to always have its scanning axis in a direction toward said tool head, motor means for driving said first television camera to scan the area in the immediate vicinity of the manipulator along a plurality of axes which are different than said scanning axis of said second television camera, and a television receiver at said monitor station for signals generated by said cameras whereby movement of said tool head can be viewed by the first and second television cameras to control said manipulator, and

(i) cycle control initiating means operable upon predeterminately positioning said manipulator carriage for causing said program control means to control the operation of said second power means to cause said arm assembly to execute a programmed operation.

17. An apparatus in accordance with claim 16 including

video signal analyzing means for receiving signals from said first and second television cameras and transmitting signals to said remote control means for remotely controlling operation of said first and second power means.

18. A remote controlled manipulation apparatus comprising:

(a) an article manipulator having a support including means for propelling said support across a surface,

(b) a manipulation fixture supported on said support and having at least one article seizing means and power operated connection means between said seizing means and support to permit said seizing means to be variably maneuvered above said support to align it with various articles to be picked up and released by said manipulator,

(c) means located at a remote station for remotely controlling said manipulator,

(d) a first video scanner mounted on said support,

(e) means for movably supporting said first video scanner on said support,

(f) a second video scanner mounted on said article seizing means and arranged to scan in the direction of said article seizing means,

(g) motor means for driving said first video scanner to scan an image field adjacent said manipulator along different axes,

(h) monitor means located at said remote station for viewing the image field and the article seizing means respectively scanned by said first and second video scanners and means for transmitting video signals from said first and second video scanners to said monitor means,

(i) control means at said remote location for controlling said motor means for driving said first video scanner to permit a first scanning axis thereof to be remotely controlled whereby a person controlling the operation of said manipulator may selectively vary the first scanning axis of said first video scanner to permit him to remotely view at least a portion of the area surrounding said manipulator,

(j) said second video scanner permitting said person to view along a second scanning axis relative to said article seizing means,

(k) whereby said person can coordinate views along the first and second scanning axes to remotely control said manipulator and article seizing means.

19. A remote controlled manipulation apparatus comprising:

(a) an article manipulator having a support including means for propelling said support across a surface;

(b) article seizing means on said support and means to variably maneuver said article seizing means to align it with various articles to be picked up and released;

(c) a first video scanner mounted on said support and means for driving said first video scanner to scan an image field adjacent said manipulator along different scanning axes;

(d) a second video scanner mounted on said article seizing means and arranged to scan in a direction toward said article seizing means;

(e) means for transmitting video signals from said first and second video scanners; and

(f) a remote station comprising remote control means and monitor means,

(g) said remote control means being adapted to remotely control said manipulator, and

(h) said means for driving said first video scanner and said monitor means being adapted to receive said video signals and display the image field and article seizing means respectively scanned by said first and second video scanners;

(i) whereby an operator at said remote station may selectively vary a scanning axis of said first video scanner to remotely control said manipulator including said article seizing means.

20. A remote control system for self-propelled vehicle containing a tool operable to perform selected operations with respect to matter adjacent said vehicle comprising:

(a) a vehicle body,

(b) means for propelling said vehicle body in a plurality of directions across a surface and direction control means for controlling movement of said vehicle on said surface,

(c) a tool head supported by said vehicle body and said tool supported by said tool head,

(d) tool operating means for causing said tool to perform selected operations on matter and control means for said tool operating means,

(e) a first television camera movably supported on said vehicle body for scanning an area adjacent said vehicle, first television camera motor means for causing said first television camera to scan areas to the front and sides of said vehicle, control means for controlling operation of said first television camera motor means,

(f) a second television camera supported adjacent said tool head and operable to scan the tool supported by said head and the area immediately adjacent said tool,

(g) a control and monitor station including a control console for controlling the movement and operation of said self-propelled vehicle including a control console having television receiving and monitor means for receiving and generating images of the areas scanned by said first and second television cameras,

(h) first shortwave signal generating means at said monitor station for generating and transmitting first command control signals to said vehicle and shortwave receiving means supported by said vehicle for receiving said shortwave signals and passing same to said direction control means for said means propelling said vehicle body to selectively locate said vehicle on said surface,

(i) second shortwave signal generating means at said monitor station for generating and transmitting to said receiving means supported by said vehicle second shortwave signals for controlling the operation of said motor means driving said first television camera, and

(j) third shortwave signal generating means at said monitor station for generating third shortwave signals for controlling the operation of said tool to cause it to exercise remote controlled movements with respect to matter disposed adjacent said vehicle.

21. Automatic manipulation apparatus comprising:

(a) a manipulator including a carriage and transport means adapted to support said manipulator in movement across a surface,

(b) a manipulator arm assembly supported by said carriage,

(c) first power operated means for propelling and maneuvering said carriage in multiple direction free travel movement across a surface so as to permit said manipulator to reach different operative locations in the realm of its movement on said surface,

(d) second power operated means including a plurality of separately operable motors connected for operating said arm assembly,

(e) first motor control means for controlling the operation of said first power operated means,

(f) second control means for controlling said plurality of separately operable motors to cause said arm assembly to execute various maneuvers above said carriage,

(g) selectively operable control means for gating command control signals to said first and second control means,

(h) program control means for generating a plurality of said command control signals for controlling said plurality of separately operable motors to cause said arm assembly to execute a programmed maneuver,

(i) cycle initiating means for initiating operation of said program control means to generate said command control signals,

(j) a monitor station,

(k) first means at said monitor station for selectively generating first control signals for controlling the operation of said first motor control means and second means for generating a second control signal for controlling the operation of the cycle initiating means for initiating operation of said program control means,

(l) said monitor station including a wireless signal transmitting means connected to shortwave transmit control signals to said manipulator,

(m) wireless receiving means supported by said manipulator for receiving signals transmitted from said monitor station,

(n) said selectively operable control means for gating command control signals being effective to gate said signals received by said wireless receiving means and operable for controlling the operation of said first power operated means and said separately operable motors in accordance with signals received from said transmitting means to permit said carriage to be remotely controlled in its movement across said surface and to remotely control the movement of and predeterminately position said arm assembly,

(o) a pivotally supported television camera disposed on said manipulator,

(p) television camera drive means for causing said camera to scan the area in the immediate vicinity of the manipulator along a plurality of axes, and

(q) a television receiver at said monitor station for receiving video signals generated by said television camera whereby the movement of said manipulator may be viewed along said plurality of axes to permit a person at said television receiver to properly effect remote control of said manipulator,

(r) said cycle initiating means being operable when said manipulator is predeterminately located in its realm of movement for causing said program control means to generate command control signals and to thereby control the operation of said manipulator to execute a programmed cycle of operation.

22. Automatic manipulation apparatus in accordance with claim 21 wherein

said television camera drive means is operable to pivot said camera about at least one axis extending through a scanning axis of said camera.

23. Automatic manipulation apparatus in accordance with claim 21 wherein

said television camera drive means is operable to pivotally drive at least part of said manipulator,

said television camera being supported for pivotal movement about a vertical axis on said latter means to permit said camera to scan an area completely around said manipulator.

24. Automatic manipulation apparatus in accordance with claim 23 including

an operating head supported at the end of said manipulator arm assembly,

a second television camera supported for scanning the operating head and the area immediately adjacent said operating head and generating a video signal output,

shortwave transmitting means for transmitting the video signal output from said second television camera, and

display means at said monitor station for receiving the video signal output of said second television camera for displaying an image of the operating head of said manipulator and the area immediately in front of said operating head.

25. Automatic manipulation apparatus comprising in combination:

(a) a manipulator including a carriage,

(b) a manipulator arm assembly supported by said carriage,

(c) first power means for propelling said carriage in multi-direction free travel movement across a surface,

(d) second power means for operating said arm assembly to cause it to execute various maneuvers,

(e) an operating head supported by said arm assembly for movement along various paths defined by the maneuvers executed by said arm assembly,

(f) program control means including a computer for causing said arm assembly to repeatedly execute a programmed maneuver,

(g) a monitor station including remote control means for selectively remotely controlling the operation of said first and second power means respectively to change the position of said carriage and to predeterminately position said arm assembly and said operating head prior to initiating a programmed maneuver of said arm assembly, and

(h) cycle control initiating means, operable from said monitor station upon remotely controlling said manipulator to be driven to a selected location, for activating said program control means to automatically cause said arm assembly to execute a programmed maneuver.

26. Automatic manipulation apparatus in accordance with claim 25 wherein said computer is also operable to control said first power means to control the movement of said manipulator across said surface.

27. Automatic manipulation apparatus in accordance with claim 25 including third power means for powering said operating head, control means for controlling said third power means connected to said computer to permit said computer to control the operation of said operating head.

28. Automatic manipulation apparatus in accordance with claim 27 wherein

said operating head is also controlable in its operation by said remote control means at said monitor station.

29. Automatic manipulation apparatus in accordance with claim 25 wherein

said program means includes means for selectively gating control signals generated either by said program control means or said remote control means to effect separate operation of said second power means by either said program control means or by said remote control means.

30. Automatic manipulation apparatus in accordance with claim 25 wherein

said program control means includes means located on the manipulator for controlling said second power means.

31. Automatic manipulation apparatus in accordance with claim 30 wherein

said program control means includes means for receiving remotely generated command control signals to establish a program for effecting operation of the manipulator.

32. Automatic manipulation apparatus in accordance with claim 31 wherein

said program control means includes a recording drum having a programmable record track and means for programming said record track electrically connected to said means for receiving remotely generated command control signals.

33. A workpiece manipulation system comprising:

(a) a manipulator including a carriage with means for moving said carriage in multi-direction free travel along a surface,

(b) a manipulator arm assembly including an operating head and arm assembly supported by said carriage,

(c) first power means for selectively driving said carriage in multi-direction movement across a surface to permit said operating head and arm assembly to attain a multitude of operable positions,

(d) second power means for selectively causing said arm assembly to execute various maneuvers,

(e) said operating head including workpiece holding means supported at an outer end of said arm assembly for movement through a multitude of paths defined by the maneuvers executed by said arm assembly,

(f) master control means including a computer for controlling said first and second power means to selectively drive said carriage and selectively position said arm assembly and cause said arm assembly to repeatedly execute a programmed maneuver,

(g) remote control means operable for remotely controlling the operation of said first and second power means to selectively position said carriage on said surface and selectively position said arm assembly on said carriage prior to initiating an operation under the control of said master control means, and

(h) gating means to selectively gate control signals generated either by said master control means or said remote control means to effect operation of said first and second power means by either said computer or by said remote control means, and

(i) cycle initiating means, operable upon predeterminately locating said manipulator by said remote control means, for causing (1) said master or remote control means to initiate and effect a control cycle and (2) said gating means to gate control signals generated by either said master or remote control means to control the operation of said first and second power means.

34. A tool and article manipulation apparatus comprising:

(a) a manipulator including a carriage adapted for multi-axis free travel movement across a surface,

(b) an upstanding support secured at its lower end to said carriage,

(c) a manipulator arm assembly supported on said upstanding support,

(d) an operating manipulator head supported on said arm assembly for movement with said arm assembly, and a power operated device secured to said operating manipulator head,

(e) a first television camera supported on said upstanding support and operable for scanning an area adjacent said manipulator,

(f) a second television camera supported adjacent said operating manipulator head and movable therewith for scanning at least part of said operating manipulator head and the area immediately adjacent said head,

(g) first power means for propelling said carriage in movement on said surface to permit the manipulator to attain selected positions in its realm of movement,

(h) second power means for operating said arm assembly to cause it to execute various maneuvers in space for selectively positioning and directing said operating manipulator head,

(i) remote control means for selectively remotely controlling operation of said first and second power means to change the position of said carriage and to selectively position said arm assembly and said operating manipulator head.

35. Manipulation apparatus in accordance with claim 34 wherein

said arm assembly is movably supported on said upstanding support.

36. Manipulation apparatus in accordance with claim 34 including

means for rotationally supporting said first television camera for rotation about a vertical axis, and

reversible motor means for power rotating said first television camera about said vertical axis.

37. Manipulation apparatus in accordance with claim 36 including

means for rotationally supporting said second television camera for rotational movement adjacent said operating manipulator head to permit said second television camera to move its scanning axis with respect to said head and the area adjacent said head, and

reversible motor means for power rotating said second television camera on its support.

38. Manipulation apparatus in accordance with claim 34 including means for varying the focus of said first television camera, motor means for operating said focus varying means, and remote control means for controlling the operation of said motor means for said focus varying means.

39. Manipulation apparatus in accordance with claim 34 including

means for varying the focus of said second television camera,

motor means for operating said second camera focus varying means, and

remote control means for controlling the operation of said motor means for said second camera focus varying means.

40. Manipulation apparatus in accordance with claim 34 including

a monitor station including a command control console having video display means for displaying an image field scanned by each of said first and second television cameras, and

means operable by a person at said console for varying the attitudes of said first and second television cameras during the remote controlled operation of said manipulator to vary said image fields scanned by said television cameras.

41. Manipulation apparatus in accordance with claim 40 wherein said first and second television cameras are each pivotally mounted for rotational movement about respective vertical axes, respective reversible drive means for pivotally driving said cameras to vary the scanning axes of said cameras, and respective control means for said respective reversible drive means controlled from said command control console.

42. In a manipulator having a carriage adapted for free travel movement along a surface and reversible first motor means for driving said carriage, an upstanding support supported by said carriage and a manipulation arm assembly supported for movement on said upstanding support, reversible second motor means for driving said arm assembly on said upstanding support and an operating head including a tool supported at the end of said manipulation arm assembly, remote control means for controlling the operation of said first and second motor means and said operating head at a remote location distantly spaced from said manipulator, the improvement comprising:

(a) a first television camera supported at the upper end of said upstanding support and adapted to scan a first image field in front of said manipulator,

(b) a second television camera supported by said manipulation arm assembly and adapted to scan a second image field including said operating head and an article to be operated on by said operating head,

(c) receiving means for the video signals transmitted by said transmitting means including video monitor display means for displaying picture information defined by the first and second image fields scanned by said first and said second television cameras to permit a person operating said remote control means at said remote location to view an area immediately in front of said manipulator, said operating head and an area immediately in front of said operating head and to thereby properly operate said remote control means to selectively control the operation of said manipulator from said remote location.

43. In a manipulator in accordance with claim 42 wherein

said tool of said operating head is operable and remotely controllable to seize and release an article.

44. In a manipulator in accordance with claim 42 wherein

said tool is operable to perform a mechanical operation on work aligned with said operating head,

said remote control means being operable to control the operation of said tool from said remote location.

45. In a manipulator in accordance with claim 42 wherein

said remote control means includes means for generating shortwave control signals for controlling the operation of said first and second motor means, means for transmitting said shortwave control signals, and

shortwave receiving means is supported by said manipulator and includes respective control means for said first and second motor means and means for properly applying said shortwave control signals received by said shortwave receiving means to said control means to permit control of the operation of said manipulator from said remote location.

46. In a manipulator in accordance with claim 45 including

means at said remote location for controlling the operation of said first and second television cameras.