Telerobotic system
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United States of America Patent
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Nov 30, 1993
Grant Date -
N/A
app pub date -
May 23, 1991
filing date -
May 23, 1991
priority date (Note) -
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status (Latency Note)
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Abstract
A telerobotic system provides a means for transmitting data between a master and a remote slave unit with a time delay therebetween. The master and slave unit form a closed loop in which motion commands are transmitted from the master to the slave and force data is transmitted back from the slave to the master. Stability is obtained over time delay by means of transforming the motion data into a wave representation in transmission between the master and slave. The signal from the master to the slave may be characterized generally as u=F+bx while the signal from the slave to the master may be characterized generally as v=F-bx where F equals the force imparted by the environment, x equals the velocity commanded by the master, and b is a characteristic wave impedance.
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Cited Art Landscape
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