초록 ▼

The present invention is a double-jointed, tendon-driven revolute joint, a decoupled tendon-driven wrist, an antibacklash mechanism, a robot control system, and a robot manipulator incorporating the double-jointed, tendon-driven revolute joint, decoupled tendon-driven wrist, and antibacklash mechani

The present invention is a double-jointed, tendon-driven revolute joint, a decoupled tendon-driven wrist, an antibacklash mechanism, a robot control system, and a robot manipulator incorporating the double-jointed, tendon-driven revolute joint, decoupled tendon-driven wrist, and antibacklash mechanism. The robot manipulator is a microsurgical teleoperated robot with actuators located at an actuator base. The overall system architecture includes a slave robot manipulator coupled to an amplifier chassis which is coupled to a control chassis. The control chassis is coupled to a workstation with a graphical user interface. Components of the robot manipulator are categorized into a mechanical sub-system, an electronics sub-system, a servo-control sub-system, and a high-level software control sub-system.

대표청구항 ▼

[ What is claimed is:] [35.] A multiple degree of freedom robot having a plurality of arm joints, a wrist joint coupled to one of said arm joints and having a tip, and a computer control system, said computer control system comprising:a user interface for receiving user commands;a servo controller c

[ What is claimed is:] [35.] A multiple degree of freedom robot having a plurality of arm joints, a wrist joint coupled to one of said arm joints and having a tip, and a computer control system, said computer control system comprising:a user interface for receiving user commands;a servo controller coupled to said arm and wrist joints for reading actual positions of said arm and wrist joints; anda real-time kinematic processor coupled to said user interface and said servo controller for receiving said user commands and said actual positions of said arm and wrist joints for computing forward and inverse kinematic relationships for controlling said arm and wrist joints in accordance with said user commands and said computed relationships;wherein said real-time kinematic processor comprising:(a) means for setting a vector of tip displacements at said robot to zero,(b) means for computing at each joint a displacement vector corresponding to a unit motion at a current joint,(c) means for multiplying a displacement vector at said current joint by a transition matrix of a succeeding joint to produce a result,(d) means for multiplying said result by a joint axis vector of said current joint,(e) means for multiplying said result by said transition matrix to define a transition from a last joint to said tip,(f) means for setting said vector as a respective column of a jacobian matrix, and(g) means for multiplying a user defined vector of tip displacements by said jacobian matrix to compute corresponding joint angle displacements;wherein said servo controller implements said joint angle displacements.