Dual arm master controller for a bilateral servo-manipulator
Patent
·
OSTI ID:7068962
A master controller for a mechanically dissimilar bilateral slave servo-manipulator is disclosed. The master controller includes a plurality of drive trains comprising a plurality of sheave arrangements and cables for controlling upper and lower degrees of master movement. The cables and sheaves of the master controller are arranged to effect kinematic duplication of the slave servo-manipulator, despite mechanical differences there between. A method for kinematically matching a master controller to a slave servo-manipulator is also disclosed. 13 figs.
- Assignee:
- Martin Marietta Energy Systems, Inc., Oak Ridge, TN (United States)
- Patent Number(s):
- US 4883400; A
- Application Number:
- PPN: US 7-236068
- OSTI ID:
- 7068962
- Resource Relation:
- Patent File Date: 24 Aug 1988
- Country of Publication:
- United States
- Language:
- English
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