Decoupled six degree-of-freedom robot manipulator
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United States of America Patent
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Jan 20, 1998
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N/A
app pub date -
Sep 7, 1995
filing date -
Sep 7, 1995
priority date (Note) -
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Abstract
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.
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