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Title: 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:
 [1];  [2]
  1. (Oak Ridge, TN)
  2. (Altadena, CA)
Issue Date:
Research Org.:
Oak Ridge National Laboratory (ORNL), Oak Ridge, TN
OSTI Identifier:
867190
Patent Number(s):
4883400
Assignee:
Martin Marietta Energy Systems, Inc. (Oak Ridge, TN) ORNL
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}
}

Patent:

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