US3893573A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Variable ratio mixed-mode bilateral master-slave control system for shuttle remote manipulator system
Assignee: National Aeronautics and Space Administration
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Filing: 1973-08-20
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Granted: 1975-07-08
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Expires: 1993-08-20
Abstract
Abstract A control system for a remotely operated manipulator system which incorporates a slave arm of substantial length and strength having multiple degrees of freedom at an adequate number of joints to enable the arm to accomplish specified tasks, and a master arm for use by an operator, the two being operated by a servo system which provides a variable ratio which is varied dependent on the task required for the slave arm. Gross movements of the slave arm are readily accomplished with small movements of the master. When the manipulator arm is close to the target, the ratio is preferably changed providing better master-arm response to the operator to enable grasping with the manipulator terminal device.
Inventors
- 👤 James C Deputy Admini Fletcher
- 👤 Fredrick J Greeb
- 👤 Shepard B Brodie
- 👤 Carl R Flatau
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-25 13:32
CPC Classifications
B; B25; B25J; B25J9/00; B25J9/10; B25J9/102; B25J9/1025; B25J17/00; B25J17/02; B25J17/0241; B25J17/025; B25J3/00; B25J3/04
Claims Analysis
Total Claims: 19
Claim 1
Independent Claim
220 words
A remote manipulator system comprising an articulated slave arm adapted to be fixedly attached for extension; a master arm adapted to be manipulated by a user in a manner to impart movement to said slave arm; said slave arm and said master arm each being made up of a plurality of pivotally connected, constant length segments, the length of the segments of the slave arm to those of the master arm being a fixed ratio; a control system connected between said master and said slave arms, said control system imparting movement to said slave arm at least partly in accordance with manipulation of said master arm, said control system at least enabling said slave arm to exercise two degrees of freedom, said control system including a controller receiving signals resulting from master arm manipulation and converting said signals from the master arm into signals for manipulation of the slave arm, means for providing different ratio of movement between said master arm and slave arms, and, means for selecting between different ratios, whereby in a coarse mode of operation, movement of the slave arm to the master arm is at a ratio of the length of slave arm to the master arm and in fine mode movement of the slave arm to the master arm is by a ratio of one-to-one.
Claim 2
Dependent Claim
220 words
A remote manipulator system comprising an articulated slave arm adapted to be fixedly attached for extension; a master arm adapted to be manipulated by a user in a manner to impart movement to said slave arm; said slave arm and said master arm each being made up of a plurality of pivotally connected, constant length segments, the length of the segments of the slave arm to those of the master arm being a fixed ratio; a control system connected between said master and said slave arms, said control system imparting movement to said slave arm at least partly in accordance with manipulation of said master arm, said control system at least enabling said slave arm to exercise two degrees of freedom, said control system including a controller receiving signals resulting from master arm manipulation and converting said signals from the master arm into signals for manipulation of the slave arm, means for providing different ratio of movement between said master arm and slave arms, and, means for selecting between different ratios, whereby in a coarse mode of operation, movement of the slave arm to the master arm is at a ratio of the length of slave arm to the master arm and in fine mode movement of the slave arm to the master arm is by a ratio of one-to-one.
Claim 3
Dependent Claim
14 words
The apparatus of claim 1 wherein the ratios of movement apply to angular deflection.
Claim 4
Dependent Claim
15 words
The apparatus of claim 1 including yaw, roll and pitch joints in said slave arm.
Claim 5
Dependent Claim
18 words
The apparatus of claim 3 wherein said slave arm includes a motor driven at each of the joints.
Claim 6
Dependent Claim
26 words
The apparatus of claim 1 including X, Y and Z servo drive motors for deflecting said master arm in response to movement of said slave arm.
Claim 7
Dependent Claim
22 words
The apparatus of claim 1 including rate of movement sensors on said slave arm operable to form signals for said control system.
Claim 8
Dependent Claim
20 words
The apparatus of claim 1 including position sensors on said slave arm operable to form signals for said control system.
Claim 9
Dependent Claim
20 words
The apparatus of claim 1 including limit sensors on said slave arm operable to form signals for said control system.
Claim 10
Dependent Claim
28 words
The apparatus of claim 1 including first and second sensors on said master responsive to rate of movement and position, said sensors forming signals for said control system.
Claim 11
Dependent Claim
14 words
The apparatus of claim 9 including servo drive motors for moving said master arm.
Claim 12
Dependent Claim
14 words
The apparatus of claim 10 wherein said control system controls said servo drive motors.
Claim 13
Dependent Claim
28 words
The apparatus of claim 1 wherein one end of said slave arm is anchored and said arm includes a shoulder joint with at least two degrees of freedom.
Claim 14
Dependent Claim
19 words
The apparatus of claim 12 wherein said slave arm includes an elbow having at least two degrees of freedom.
Claim 15
Dependent Claim
18 words
The apparatus of claim 12 wherein said arm includes a wrist with at least two degrees of freedom.
Claim 16
Dependent Claim
19 words
The apparatus of claim 14 including a television system camera on said arm for viewing the outer portions thereof.
Claim 17
Dependent Claim
62 words
The apparatus of claim 1 including first and second articulated portions in said slave arm terminating in a terminal device, said arm portions being selectively joined by joint means which all have at least two degrees of freedom, and said control system includes a servo loop incorporating a servo drive motor at each joint means and sensor means for detecting deflection thereof.
Claim 18
Dependent Claim
19 words
The apparatus specified in claim 1, including means to reposition the master arm without movement of the slave arm.
Claim 19
Dependent Claim
18 words
The apparatus specified in claim 1, including means to automatically move the slave arm to perform preselected tasks.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1978-07-07 | 1979-01-06 | 1979-07-08 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1982-07-07 | 1983-01-06 | 1983-07-08 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1986-07-07 | 1987-01-06 | 1987-07-08 | $7700.00 | Window Closed / Lapsed |