US5103404A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Feedback for a manipulator
Assignee: TENSOR DEVELOPMENT Inc A CORP OF CO
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Filing: 1989-12-20
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Granted: 1992-04-07
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Expires: 2009-12-20
Abstract
Abstract A programmable variable degree of tactile feedback for the operation of a manipulator by a pair of motors, one connected to the load and one to the control. Computer controlled four quadrant regulators for each motor are used to drive the load motor shaft to the same position as the control motor shaft and to vary the feedback force on the control motor in proportion to selected forces developed during the manipulation process.
Inventors
- 👤 James L. McIntosh
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-24 08:52
CPC Classifications
B; B23; B23P; B23P19/00; B23P19/04; B23P19/06; B23P19/065; B23P19/066; A; A63; A63B; A63B24/00; G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/19; G05B19/21; G05B19/23; G05B19/231; G05B19/237; G05B19/414; G05B19/4142; A63B21/00; A63B21/005; A63B21/0058; A63B2220/00; A63B2220/10; A63B2220/16; G05B2219/00; G05B2219/30; G05B2219/37; G05B2219/37297; G05B2219/37388; G05B2219/37391; G05B2219/37612; G05B2219/37621; G05B2219/41; G05B2219/41023; G05B2219/42; G05B2219/42152; G05B2219/42168
Claims Analysis
Total Claims: 18
Claim 1
Independent Claim
201 words
A system for controlling movement of a manipulator using determined force-related parameters and adapted to move a load using the manipulator, comprising: a manipulator adapted to be moved in a controlled manner; load motor means operatively connected to said manipulator for causing movement thereof; and controlling means operatively connected to said load motor means for using at least two of the following force-related parameters: mass, distance moved, velocity and acceleration associated with at least one of said manipulator and said load motor means, in controlling said load motor means to cause movement of said manipulator, said controlling means including processing means wherein said force-related parameters are determined using said processing means, said determined force-related parameters being used in calculating a force-related magnitude wherein said force-related magnitude relates to at least one of the following: (a) total system forces developed while moving said manipulator, (b) a force outputted by said load motor means, (c) a force induced by the load while moving said manipulator, said controlling means further including means for changing the ratio of forces among: said total system forces, said force outputted by said load motor means and said load induced force to provide a desired blend of feedback force.
Claim 2
Independent Claim
201 words
A system for controlling movement of a manipulator using determined force-related parameters and adapted to move a load using the manipulator, comprising: a manipulator adapted to be moved in a controlled manner; load motor means operatively connected to said manipulator for causing movement thereof; and controlling means operatively connected to said load motor means for using at least two of the following force-related parameters: mass, distance moved, velocity and acceleration associated with at least one of said manipulator and said load motor means, in controlling said load motor means to cause movement of said manipulator, said controlling means including processing means wherein said force-related parameters are determined using said processing means, said determined force-related parameters being used in calculating a force-related magnitude wherein said force-related magnitude relates to at least one of the following: (a) total system forces developed while moving said manipulator, (b) a force outputted by said load motor means, (c) a force induced by the load while moving said manipulator, said controlling means further including means for changing the ratio of forces among: said total system forces, said force outputted by said load motor means and said load induced force to provide a desired blend of feedback force.
Claim 3
Dependent Claim
25 words
A system, as claimed in claim 1, wherein: said controlling means includes control motor means for providing tactile feedback to an operator of the system.
Claim 4
Dependent Claim
30 words
A system, as claimed in claim 1, wherein: said processing means includes programming means having preprogrammed instructions, said preprogrammed instructions and said force-related parameters for controlling said load motor means.
Claim 5
Dependent Claim
86 words
A system, as claimed in claim 2, wherein: said control motor means includes encoder means for providing a magnitude relating to distance moved and said load motor means includes encoder means for providing a magnitude relating to distance moved and wherein said processing means determines a magnitude relating to a difference between said magnitudes of said encoder means of said control motor means and said encoder means of said load motor means and said difference is used in providing an input to said load motor means.
Claim 6
Dependent Claim
46 words
A system, as claimed in claim 1, wherein: said means for changing includes programmed instructions and said programmed instructions are used to automatically change said control force ratio based on system parameter information including whether or not contact is made between said manipulator and the load.
Claim 7
Dependent Claim
24 words
A system, as claimed in claim 1, wherein: said processing means having preprogrammed instructions for calibrating at least a first component of the system.
Claim 8
Dependent Claim
16 words
A system, as claimed in claim 6, wherein: said first component includes said load motor means.
Claim 9
Dependent Claim
26 words
A system, as claimed in claim 1, wherein: said processing means having preprogrammed instructions for determining the mass of the load operatively held by said manipulator.
Claim 10
Dependent Claim
33 words
An apparatus, as claimed in claim 1, wherein: said processing means having preprogrammed instructions for causing substantial convergence between an output of said load motor means and information used by said processing means.
Claim 11
Dependent Claim
27 words
A system, as claimed in claim 9, wherein: said controlling means includes control motor means and said information includes an output provided by said control motor means.
Claim 12
Dependent Claim
39 words
An apparatus, as claimed in claim 4, wherein: said processing means includes programming means having preprogrammed instructions for causing a substantial convergence between an output of said control motor means encoder means and said load motor means encoder means.
Claim 13
Dependent Claim
28 words
A system, as claimed in claim 1, wherein: said processing means having preprogrammed instructions for determining information relating to contact being made between said manipulator and the load.
Claim 14
Dependent Claim
21 words
A system, as claimed in claim 1, wherein: said programming means determines a distance using movement of said load motor means.
Claim 15
Dependent Claim
24 words
A system, as claimed in claim 1, wherein: movement of said manipulator is accomplished using at least one of manual operation and automatic operation.
Claim 16
Dependent Claim
56 words
A system, as claimed in claim 1, wherein said controlling means includes: a plurality of moving actuator means; support means engaging said plurality of actuator means; and means for determining a magnitude relating to distance using at least the movement of one of said plurality of actuator means and at least portions of said support means.
Claim 17
Dependent Claim
22 words
An apparatus, as claimed in claim 15, wherein: said plurality of actuator means includes at least a non-linear moving first piezo element.
Claim 18
Dependent Claim
39 words
A system, as claimed in claim 15, wherein: said support means includes a number of levers operatively connected to each of said plurality of actuator mean wherein said levers are movable in response to movement of said actuator means.
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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) | 1995-04-07 | 1995-10-07 | 1996-04-07 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1999-04-07 | 1999-10-07 | 2000-04-07 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2003-04-07 | 2003-10-07 | 2004-04-07 | $7700.00 | Window Closed / Lapsed |