초록 ▼

The present invention is a low friction, low inertia, six-axis force feedback input device comprising an arm with double-jointed, tendon-driven revolute joints, a decoupled tendon-driven wrist, and a base with encoders and motors. The input device functions as a master robot manipulator of a microsu

The present invention is a low friction, low inertia, six-axis force feedback input device comprising an arm with double-jointed, tendon-driven revolute joints, a decoupled tendon-driven wrist, and a base with encoders and motors. The input device functions as a master robot manipulator of a microsurgical teleoperated robot system including a slave robot manipulator coupled to an amplifier chassis, which is coupled to a control chassis, which is coupled to a workstation with a graphical user interface. The amplifier chassis is coupled to the motors of the master robot manipulator and the control chassis is coupled to the encoders of the master robot manipulator. A force feedback can be applied to the input device and can be generated from the slave robot to enable a user to operate the slave robot via the input device without physically viewing the slave robot. Also, the force feedback can be generated from the workstation to represent fictitious forces to constrain the input device's control of the slave robot to be within imaginary predetermined boundaries.

대표청구항 ▼

[ What is claimed is:] [1.] A robot manipulator coupled to an external device, said robot manipulator comprising:an actuator base with plural actuators said actuator base having means for receiving forces generated by said external device;an end effector interactive with an operator;a force feedback

[ What is claimed is:] [1.] A robot manipulator coupled to an external device, said robot manipulator comprising:an actuator base with plural actuators said actuator base having means for receiving forces generated by said external device;an end effector interactive with an operator;a force feedback sensor coupled between said end effector and said actuator base for receiving said forces from said actuator base, converting said forces into feedback forces, and providing said feedback forces to said operator;plural arms extending seriatim between said end effector and said actuator base;plural joints connected between pairs of adjacent arms;wherein each one of said plural joints comprises means for mechanically coupling respective ones of said actuators to respective ones of said joints through intermediate ones of said joints, and wherein said means for mechanically coupling is decoupled from said intermediate joints;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 and for controlling said arm and wrist joints in accordance with said user commands and said computed relationships.