ATE91943T1 - Handsteuerhebel fuer einen steuerkreis einer maschine. - Google Patents

Handsteuerhebel fuer einen steuerkreis einer maschine.

Info

Publication number
ATE91943T1
ATE91943T1 AT89305136T AT89305136T ATE91943T1 AT E91943 T1 ATE91943 T1 AT E91943T1 AT 89305136 T AT89305136 T AT 89305136T AT 89305136 T AT89305136 T AT 89305136T AT E91943 T1 ATE91943 T1 AT E91943T1
Authority
AT
Austria
Prior art keywords
gripper
hand
hand controller
signals
loop
Prior art date
Application number
AT89305136T
Other languages
English (en)
Inventor
Patrick Fung
Graham Norgate
Timothy Dilts
Andrew Jones
Rangaswamy Ravindran
Original Assignee
Spar Aerospace Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Spar Aerospace Ltd filed Critical Spar Aerospace Ltd
Application granted granted Critical
Publication of ATE91943T1 publication Critical patent/ATE91943T1/de

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40144—Force sensation feedback from follower

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Switches With Compound Operations (AREA)
  • Control Of Position Or Direction (AREA)
  • Prostheses (AREA)
  • Measuring Pulse, Heart Rate, Blood Pressure Or Blood Flow (AREA)
  • Lock And Its Accessories (AREA)
AT89305136T 1988-07-18 1989-05-22 Handsteuerhebel fuer einen steuerkreis einer maschine. ATE91943T1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US21978988A 1988-07-18 1988-07-18
EP89305136A EP0353841B1 (de) 1988-07-18 1989-05-22 Handsteuerhebel für einen Steuerkreis einer Maschine

Publications (1)

Publication Number Publication Date
ATE91943T1 true ATE91943T1 (de) 1993-08-15

Family

ID=22820792

Family Applications (1)

Application Number Title Priority Date Filing Date
AT89305136T ATE91943T1 (de) 1988-07-18 1989-05-22 Handsteuerhebel fuer einen steuerkreis einer maschine.

Country Status (4)

Country Link
EP (1) EP0353841B1 (de)
AT (1) ATE91943T1 (de)
CA (1) CA1333415C (de)
DE (1) DE68907815T2 (de)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2693397B1 (fr) * 1992-07-09 1994-09-02 Cogema Dispositif de retour d'information sensorielle représentative de l'effort exercé sur un télémanipulateur par son utilisateur.
FR2706141B1 (fr) * 1993-06-08 1995-08-25 Matra Marconi Space France Dispositif de commande à retour d'effort synthétique.
US5414620A (en) * 1993-08-09 1995-05-09 Honeywell Inc. Synthetic friction algorithm for a hand control element
CN104239611B (zh) * 2014-08-27 2018-04-13 中国航天科工运载技术研究院 一种基于人在回路的分布式仿真系统
DE202015008715U1 (de) * 2015-12-18 2017-03-21 Kuka Roboter Gmbh Bediengerät zum Steuern oder Programmieren eines Manipulators

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2846084A (en) * 1955-06-21 1958-08-05 Raymond C Goertz Electronic master slave manipulator
DE1531181A1 (de) * 1967-11-25 1969-07-31 Entwicklungs Und Forschungslab Synchronroboter fuer ferngesteuerte Arbeiten in strahlungsintensiven Raeumen
US3618786A (en) * 1969-01-02 1971-11-09 Gen Electric Material-handling apparatus with end effector force resolver and feedback
FR2275833A1 (fr) * 1974-06-19 1976-01-16 Commissariat Energie Atomique Dispositif de commande a distance mecanique reversible
FR2297698A1 (fr) * 1975-01-20 1976-08-13 Commissariat Energie Atomique Bras de commande pour manipulateur motorise
DE3065505D1 (en) * 1979-05-11 1983-12-15 Basfer Spa Robot with light-weight, inertia-free programming device
US4298308A (en) * 1979-09-24 1981-11-03 Hans Richter Apparatus for detecting forces directing the movement of a manipulating instrument
US4360886A (en) * 1980-04-04 1982-11-23 Nordson Corporation Method and apparatus for analyzing the feasibility of performing a programmed sequence of motions with a robot
DE3045094A1 (de) * 1980-11-29 1982-07-01 Kernforschungszentrum Karlsruhe Gmbh, 7500 Karlsruhe Programmierbarer manipulator
FR2516843B1 (fr) * 1981-11-24 1985-10-25 Calhene Dispositif d'actionnement et son application a un asservissement de position pour un telemanipulateur maitre-esclave

Also Published As

Publication number Publication date
EP0353841A3 (en) 1990-10-10
EP0353841A2 (de) 1990-02-07
CA1333415C (en) 1994-12-06
DE68907815T2 (de) 1993-12-09
EP0353841B1 (de) 1993-07-28
DE68907815D1 (de) 1993-09-02

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