초록 ▼

A master six-degree-freedom Force Reflecting Hand Controller (“FRHC”) is available at a master site where a received image displays, in essentially real-time, a remote robotic manipulator which is being controlled in the corresponding six-degree-freedom by command signals which are transmitted to th

A master six-degree-freedom Force Reflecting Hand Controller (“FRHC”) is available at a master site where a received image displays, in essentially real-time, a remote robotic manipulator which is being controlled in the corresponding six-degree-freedom by command signals which are transmitted to the remote site in accordance with the movement of the FRHC at the master site. Software is user-initiated at the master site in order to establish the basic system conditions and then a physical movement of the FRHC in Cartesean space is reflected at the master site by six absolute numbers that are sensed, translated, and computed as a difference signal relative to the earlier position. The change in position is then transmitted in that differential signal form over a high speed synchronized bilateral communication channel which simultaneously returns robot-sensed response information to the master site as forces applied to the FRHC so that the FRHC reflects the “feel”of what is taking place at the remote site. A system-wide clock rate is selected at a sufficiently high rate that the operator at the master site experiences the Force Reflecting operation in real time.

대표청구항 ▼

A universal computer control system having a control processor with a memory storage device that is software accessible, said control system characterized by being of master slave type for controlling a plurality of motors that can be controlled by a software program, with some motors of the plurali

A universal computer control system having a control processor with a memory storage device that is software accessible, said control system characterized by being of master slave type for controlling a plurality of motors that can be controlled by a software program, with some motors of the plurality of said motors being located at a master site and some motors of the plurality of said motors being located at a remote site, and said system comprising: a system code generator in signal communication with said memory storage device of said control processor for delivering thereto a predetermined code to be stored therein in order to electronically write a software control program for controlling said plurality of motors at both site locations; a system software control program that is written electronically by said predetermined code issued from said system control generator; means available to a user for inputting to said control processor a hardware configuration and operating parameters for each one of said plurality of motors to be controlled by said system software control program as written by said system; and means responsive to said software control program written by said system and to said hardware configuration, and said operating parameters as input by the user into said control processor at said master site for emitting a plurality of command signals to control the operation of each one of said plurality of motors by said control processor.