Patent US5018922A successfully refreshed from Google Patents.
US5018922A
Expired / Lapsed
US
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Master/slave type manipulator
Assignee: Komatsu Ltd
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Filing: 1989-09-12
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Granted: 1991-05-28
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Expires: 2009-09-12
Abstract
Abstract A force feeling type master/slave manipulator detects a positional difference, a speed difference, and a force difference between the master and slave machines. The position difference and force difference are combined in a weighted manner and the output is used to drive an actuator on the control lever of the master machine to provide a force feeling feedback effect. The position difference is also combined in a weighted manner with the speed difference and the speed of the working machine to provide a sum value. The load force is subtracted from the sum value and the result is used to provide a signal for driving the actuator of the working machine. As a result, stable operation of the control lever is provided, natural vibration of the working machine is reduced and the working machine is stabilized against large inertial loads.
Inventors
- 👤 Hiroshi Yoshinada
- 👤 Shu Takeda
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-24 21:07
CPC Classifications
B; B25; B25J; B25J3/00; B25J3/04
Claims Analysis
Total Claims: 5
Claim 1
Independent Claim
311 words
A master/slave type manipulator comprising: slaver means in the form of a working machine operated by a first actuator; master means in the form of a control lever similar to said working machine and having a second actuator providing a torque to said control lever in a direction opposite to an operating direction of the control lever; a first position sensor for detecting an actuated position of the working machine; a first speed sensor for detecting a shifting speed of the working machine; a second position sensor for detecting an operating position of the control lever; a second speed sensor for detecting an operating speed of the control lever; means for detecting a load acting on the working machine; means for detecting a torque applied to the control lever; first means for calculating a difference between an output of said first position sensor and an output of said second position sensor; second means for calculating a difference between an output of said load detecting means and an output of said torque detecting means; third means for calculating a difference between an output of said first speed sensor and an output of said second speed sensor; fourth calculating means for weighting respectively and adding together an output of said first calculating means and an output of said second calculating means and for subtracting a weighted value of an output of said third calculating means from said weighted and added values; first driving means for driving said second actuator in accordance with said subtracted value of said fourth calculating means; fifth calculating means for summing the output of said first calculating means, and a weighted output of said first speed sensor, and for subtracting the output of said load detecting means from said sum; and second driving means for driving said first actuator in accordance with an output of said fifth calculating means.
Claim 2
Dependent Claim
311 words
A master/slave type manipulator comprising: slaver means in the form of a working machine operated by a first actuator; master means in the form of a control lever similar to said working machine and having a second actuator providing a torque to said control lever in a direction opposite to an operating direction of the control lever; a first position sensor for detecting an actuated position of the working machine; a first speed sensor for detecting a shifting speed of the working machine; a second position sensor for detecting an operating position of the control lever; a second speed sensor for detecting an operating speed of the control lever; means for detecting a load acting on the working machine; means for detecting a torque applied to the control lever; first means for calculating a difference between an output of said first position sensor and an output of said second position sensor; second means for calculating a difference between an output of said load detecting means and an output of said torque detecting means; third means for calculating a difference between an output of said first speed sensor and an output of said second speed sensor; fourth calculating means for weighting respectively and adding together an output of said first calculating means and an output of said second calculating means and for subtracting a weighted value of an output of said third calculating means from said weighted and added values; first driving means for driving said second actuator in accordance with said subtracted value of said fourth calculating means; fifth calculating means for summing the output of said first calculating means, and a weighted output of said first speed sensor, and for subtracting the output of said load detecting means from said sum; and second driving means for driving said first actuator in accordance with an output of said fifth calculating means.
Claim 3
Dependent Claim
59 words
A master/slave type manipulator as set forth in claim 1, wherein said first actuator is a hydraulic cylinder, said second driving means is a flow control servo valve, and said load detecting means is a pressure sensor for detecting a pressure difference between a pair of oil lines disposed between said hydraulic cylinder and said flow control servo valve.
Claim 4
Dependent Claim
18 words
A master/slave type manipulator as set forth in claim 1, wherein said second actuator is a torque motor.
Claim 5
Dependent Claim
18 words
A master/slave type manipulator as set forth in claim 2, wherein said second actuator is a torque motor.
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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) | 1994-05-27 | 1994-11-26 | 1995-05-28 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1998-05-27 | 1998-11-26 | 1999-05-28 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2002-05-27 | 2002-11-26 | 2003-05-28 | $7700.00 | Window Closed / Lapsed |