Electromechanical actuator for the tongs of a servomanipulator

Patent · Tue Dec 31 23:00:00 EST 1985

OSTI ID:865967

Martin, H Lee ^[1]; Killough, Stephen M ^[1]

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1. Knoxville, TN

Computer-augmented electromechanical system is provided for controlling the tongs of a servomanipulator. The mechanical tongs are motor-driven through the remote slave arm of the manipulator, and the motor control current is supplied by a position sensor which senses the position of a spring-loaded trigger in the master arm handle on the manipulator. The actuator for the tongs provides the operator with artificial force reflection in a unilateral force-force control loop.

• Research Organization: Oak Ridge National Laboratory (ORNL), Oak Ridge, TN
• Assignee: United States of America as represented by United States (Washington, DC)
• Patent Number(s): US 4608526
• OSTI ID: 865967
• Country of Publication: United States
• Language: English

Related Subjects

/318/74/244/901/
actuator
arm
artificial
computer-augmented
control
control loop
controlling
current
electromechanical
force
force control
force-force
handle
loop
manipulator
master
mechanical
motor
motor control
motor-driven
operator
position
position sensor
provided
provides
reflection
remote
senses
sensor
servomanipulator
slave
spring-loaded
supplied
tongs
trigger
unilateral