Patent US2369480A successfully refreshed from Google Patents.
Patent US4156835A successfully refreshed from Google Patents.
US4156835A
Expired / Lapsed
US
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Servo-controlled mobility device
Assignee: Massachusetts Institute of Technology
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Filing: 1974-05-29
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Granted: 1979-05-29
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Expires: 1994-05-29
Abstract
Abstract A servo system includes a servo loop incorporating an articulated mechanical arm or other controllable element, resolved motion rate control apparatus or other coordinate transformation apparatus, and an accommodation branch. The transfer characteristics may be readily adjusted to constrain the controllable element to accomplish a desired task, and the accommodation branch transfer characteristics may be readily modified to accomplish the performance of many different tasks without modifications to other portions of the system.
Inventors
- 👤 Daniel E. Whitney
- 👤 James L. Nevins, Jr.
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 14:30
CPC Classifications
B; B23; B23P; B23P19/00; B23P19/10; B23P19/102; B23P19/105; B25; B25J; B25J17/00; B25J17/02; B25J17/0208; B25J19/00; B25J19/02; B25J9/00; B25J9/16; B25J9/1628; B25J9/1679; B25J9/1692; G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/402; G05B19/408; G05B19/4086; G05B2219/00; G05B2219/30; G05B2219/33; G05B2219/33263; G05B2219/35; G05B2219/35534; G05B2219/37; G05B2219/37344; G05B2219/40; G05B2219/40087; G05B2219/41; G05B2219/41248; G05B2219/45; G05B2219/45083
Claims Analysis
Total Claims: 16
Claim 1
Independent Claim
89 words
Motion controlling apparatus comprising a first element controllable in at least two dimensions, a servo loop including said controllable element which directs motions of said controllable element in an environment, said servo loop comprising means for sensing interactions between said controllable element and said environment to provide sensory information, and task-related transfer function means for utilizing said sensory information to control the magnitude and direction of the velocity of said controllable element, whereby said controllable element produces motion, force and torque appropriate to the accomplishment of a predetermined task.
Claim 2
Dependent Claim
89 words
Motion controlling apparatus comprising a first element controllable in at least two dimensions, a servo loop including said controllable element which directs motions of said controllable element in an environment, said servo loop comprising means for sensing interactions between said controllable element and said environment to provide sensory information, and task-related transfer function means for utilizing said sensory information to control the magnitude and direction of the velocity of said controllable element, whereby said controllable element produces motion, force and torque appropriate to the accomplishment of a predetermined task.
Claim 3
Dependent Claim
115 words
Motion controlling apparatus comprising a first element controllable in at least two dimentions, a first servo loop including said controllable element which directs motions of said controllable element in an environment, a second servo loop including, in addition to the said first servo loop means for sensing interactions between said controllable element and said environment to provide sensory information, an accommodation branch including task-related transfer function means for utilizing said sensory information to constrain the performance of said first servo loop to a desired task by controlling the magnitude and direction of the velocity of said controllable element, whereby said controllable element produces motion, force and torque appropriate to the accomplishment of a predetermined task.
Claim 4
Dependent Claim
115 words
Motion controlling apparatus comprising a first element controllable in at least two dimentions, a first servo loop including said controllable element which directs motions of said controllable element in an environment, a second servo loop including, in addition to the said first servo loop means for sensing interactions between said controllable element and said environment to provide sensory information, an accommodation branch including task-related transfer function means for utilizing said sensory information to constrain the performance of said first servo loop to a desired task by controlling the magnitude and direction of the velocity of said controllable element, whereby said controllable element produces motion, force and torque appropriate to the accomplishment of a predetermined task.
Claim 5
Dependent Claim
151 words
Motion controlling apparatus comprising a first element controllable in at least two dimension, said controllable element having at least two controllable degrees of freedom, said controllable degree of freedom being expressed in a first coordinate system, said controllable element having at least two output motions, said output motions being expressed in a second coordinate system, a servo loop including said controllable element, means for performing transformations between said first coordinate system and said second coordinate system, said servo loop directing motions of said controllable element in an enviornment, said servo loop comprising means for sensing interactions between said controllable element and said environment to provide sensory information, and task-related transfer function means for utilizing said sensory information to control the magnitude and direction of the velocity of said controllable element of said controllable element, whereby said controllable element produces motion, force and torque appropriate to the accomplishment of a predetermined task.
Claim 6
Dependent Claim
151 words
Motion controlling apparatus comprising a first element controllable in at least two dimension, said controllable element having at least two controllable degrees of freedom, said controllable degree of freedom being expressed in a first coordinate system, said controllable element having at least two output motions, said output motions being expressed in a second coordinate system, a servo loop including said controllable element, means for performing transformations between said first coordinate system and said second coordinate system, said servo loop directing motions of said controllable element in an enviornment, said servo loop comprising means for sensing interactions between said controllable element and said environment to provide sensory information, and task-related transfer function means for utilizing said sensory information to control the magnitude and direction of the velocity of said controllable element of said controllable element, whereby said controllable element produces motion, force and torque appropriate to the accomplishment of a predetermined task.
Claim 7
Dependent Claim
174 words
Motion controlling apparatus comprising a first element controllable in at least two dimensions, said controllable element having at least two controllable degrees of freedom, said controllable degrees of freedom being expressed in a first coordinate system, said controllable element having at least two output motions, said output motions being expressed in a second coordinate system, a first servo loop including said controllable element means for performing transformations between said first coordinate system and said second coordinate system, said first servo loop directing motions of said controllable element in an environment, a second servo loop including, in addition to the said first servo loop means for sensing interactions between said controllable element and said environment to provide sensory information, an accommodation branch including task-related transfer function means for utilizing said sensory information to constrain the performance of said first servo loop to a desired task by controlling the magnitude and direction of the velocity of said controllable element, whereby said controllable element produces motion, force and torque appropriate to the accomplishment of a predetermined task.
Claim 8
Dependent Claim
174 words
Motion controlling apparatus comprising a first element controllable in at least two dimensions, said controllable element having at least two controllable degrees of freedom, said controllable degrees of freedom being expressed in a first coordinate system, said controllable element having at least two output motions, said output motions being expressed in a second coordinate system, a first servo loop including said controllable element means for performing transformations between said first coordinate system and said second coordinate system, said first servo loop directing motions of said controllable element in an environment, a second servo loop including, in addition to the said first servo loop means for sensing interactions between said controllable element and said environment to provide sensory information, an accommodation branch including task-related transfer function means for utilizing said sensory information to constrain the performance of said first servo loop to a desired task by controlling the magnitude and direction of the velocity of said controllable element, whereby said controllable element produces motion, force and torque appropriate to the accomplishment of a predetermined task.
Claim 9
Dependent Claim
101 words
Apparatus according to claim 3 wherein said servo loop includes resolved motion rate control transfer function apparatus adapted to accomplish said transformation between said first coordinate system and said second coordinate system to provide input commands to the said controllable element proportioned according to the relationship between input motions, forces and torques expressed in said first coordinate system, and desired output motions, forces and torques expressed in said second coordinate system, whereby a command proportioned to desired output motions, forces and torques will be converted to commands which will cause said controllable element to perform said desired motions, forces and torques.
Claim 10
Dependent Claim
102 words
Apparatus according to claim 4 wherein said second servo loop includes resolved motion rate control transfer function apparatus adapted to accomplish said transformation between said first coordinate system and said second coordinate system to provide input commands to the said controllable element proportioned according to the relationship between input motions, forces and torques expressed in said first coordinate system, and desired output motions, forces and torques expressed in said second coordinate system, whereby a command proportioned to desired output motions, forces and torques will be converted to commands which will cause said controllable element to perform said desired motions, forces and torques.
Claim 11
Dependent Claim
42 words
Apparatus according to claim 1 wherein said servo loop includes in series with said task-related transfer function apparatus, additional transfer function and sensing apparatus adapted to convert sensed interactions between said controllable element and its enviroment into signals representative of said interactions.
Claim 12
Dependent Claim
43 words
Apparatus according to claim 2 wherein said second servo loop includes in series with said task-related transfer function apparatus, additional transfer function and sensing apparatus adapted to convert sensed interactions between said controllable element and its environment into signals representative of said interactions.
Claim 13
Dependent Claim
56 words
Apparatus according to claim 3 wherein said sensing apparatus is located on said controllable element and acts to sense interactions between said controllable element and said environment into signals representative of said interaction, said signals being processed by transfer function apparatus in said servo loop so as to express said signals in said second coordinate system.
Claim 14
Dependent Claim
58 words
Apparatus according to claim 4 wherein said sensing apparatus is located on said controllable element and acts to convert sensed interactions between said controllable element and said environment into signals representative of said interaction, said signals being processed by transfer function apparatus in said second servo loop so as to express said signals in said second coordinate system.
Claim 15
Dependent Claim
55 words
Apparatus according to claim 3 wherein said sensing apparatus is located in said environment, and acts to sense interactions between said controllable element and said environment into signals representative of said interaction, said signals being processed by transfer function apparatus in said servo loop so as to express said signals in said second coordinate system.
Claim 16
Dependent Claim
57 words
Apparatus according to claim 4 wherein said sensing apparatus is located in said environment, and acts to convert sensed interactions between said controllable element and said environment into signals representative of said interaction, said signals being processed by transfer function apparatus in said second servo loop so as to express said signals in said second coordinate system.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1982-05-28 | 1982-11-27 | 1983-05-29 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1986-05-28 | 1986-11-27 | 1987-05-29 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1990-05-28 | 1990-11-27 | 1991-05-29 | $7700.00 | Window Closed / Lapsed |