Dual arm master controller for a bilateral servo-manipulator
Abstract
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 therebetween. A method for kinematically matching a master controller to a slave servo-manipulator is also disclosed.
- Inventors:
-
- Oak Ridge, TN
- Altadena, CA
- Issue Date:
- Research Org.:
- Oak Ridge National Laboratory (ORNL), Oak Ridge, TN (United States)
- OSTI Identifier:
- 867190
- Patent Number(s):
- 4883400
- Assignee:
- Martin Marietta Energy Systems, Inc. (Oak Ridge, TN)
- Patent Classifications (CPCs):
-
B - PERFORMING OPERATIONS B25 - HAND TOOLS B25J - MANIPULATORS
- DOE Contract Number:
- W-7405-ENG-26
- Resource Type:
- Patent
- Country of Publication:
- United States
- Language:
- English
- Subject:
- dual; arm; master; controller; bilateral; servo-manipulator; mechanically; dissimilar; slave; disclosed; plurality; drive; trains; comprising; sheave; arrangements; cables; controlling; upper; degrees; movement; sheaves; arranged; effect; kinematic; duplication; despite; mechanical; differences; therebetween; method; kinematically; matching; master controller; drive train; master control; /414/901/
Citation Formats
Kuban, Daniel P, and Perkins, Gerald S. Dual arm master controller for a bilateral servo-manipulator. United States: N. p., 1989.
Web.
Kuban, Daniel P, & Perkins, Gerald S. Dual arm master controller for a bilateral servo-manipulator. United States.
Kuban, Daniel P, and Perkins, Gerald S. Sun .
"Dual arm master controller for a bilateral servo-manipulator". United States. https://www.osti.gov/servlets/purl/867190.
@article{osti_867190,
title = {Dual arm master controller for a bilateral servo-manipulator},
author = {Kuban, Daniel P and Perkins, Gerald S},
abstractNote = {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 therebetween. A method for kinematically matching a master controller to a slave servo-manipulator is also disclosed.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {1989},
month = {1}
}
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