Master/slave type manipulator
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United States of America Patent
Stats
-
Jan 16, 1990
Grant Date -
N/A
app pub date -
Mar 26, 1987
filing date -
Mar 26, 1987
priority date (Note) -
Expired
status (Latency Note)
Importance
Abstract
A force feeling type master/slave manipulator comprises a detector for detecting a positional difference between master and slave machines, an actuator provided on the slave side and actuated so that the slave follows up the master on the basis of the above positional difference the manipulator, and a pressure sensor for detecting a pressure in a hydraulic cylinder in which an output signal of the pressure sensor is divided by any one of the shifting speed of a slave working machie, manipulating or operating speed of a master control lever, displacement in a spool of a flow control servo valve, speed difference between the master control lever and slave working machine and positional difference between the master control lever and slave working machine. The divided value signal is used to drive a torque actuator provided in a joint part of the control lever.
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