US4409736A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Null seeking system for remote center compliance device
Assignee: Charles Stark Draper Laboratory Inc
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Filing: 1981-07-31
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Granted: 1983-10-18
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Expires: 2001-07-31
Abstract
Abstract A null seeking control system for a remote center compliance (RCC) device including: detector means for sensing the position of the operator means of an RCC device relative to the fixed portion of that RCC device; a threshold circuit, responsive to the detector means, for determining for each degree of freedom whether the operator means is at a null region, offset in a first direction or offset in a second direction relative to the fixed portion of the RCC device; and a correction circuit, responsive to the threshold circuit, for providing an error correction signal to maintain the null position of the operator means relative to the fixed portion of the RCC device.
Inventors
- 👤 Donald S. Seltzer
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 15:03
CPC Classifications
B; B25; B25J; B25J9/00; B25J9/16; B25J9/1679; B25J9/1692; B23; B23Q; B23Q35/00; B23Q35/04; B23Q35/08; B23Q35/22; G; G05; G05B; G05B2219/00; G05B2219/30; G05B2219/40; G05B2219/40087; G05B2219/49; G05B2219/49113
Claims Analysis
Total Claims: 17
Claim 1
Independent Claim
125 words
A null seeking control system for a remote center compliance device having a fixed portion and operator means movable relative thereto, comprising: detector means for sensing the position of the operator means of an RCC device relative to the fixed portion of that RCC device; a threshold circuit means responsive to said detector means for determining for at least one degree of freedom whether the operator means is at a null region, offset in a first direction or offset in a second direction relative to said fixed portion of the RCC device; and a correction circuit, responsive to said threshold circuit, for providing an error correction signal to maintain the null position of said operator means relative to said fixed portion of said RCC device.
Claim 2
Dependent Claim
125 words
A null seeking control system for a remote center compliance device having a fixed portion and operator means movable relative thereto, comprising: detector means for sensing the position of the operator means of an RCC device relative to the fixed portion of that RCC device; a threshold circuit means responsive to said detector means for determining for at least one degree of freedom whether the operator means is at a null region, offset in a first direction or offset in a second direction relative to said fixed portion of the RCC device; and a correction circuit, responsive to said threshold circuit, for providing an error correction signal to maintain the null position of said operator means relative to said fixed portion of said RCC device.
Claim 3
Dependent Claim
27 words
The null seeking control system of claim 1 in which said detector means includes at least one detector for each degree of freedom of the RCC device.
Claim 4
Dependent Claim
15 words
The null seeking control system of claim 1 in which said detector means detects displacement.
Claim 5
Dependent Claim
31 words
The null seeking control system of claim 2 in which each said detector includes a pair of sensors and a differential amplifier responsive to the outputs of said pair of sensors.
Claim 6
Dependent Claim
32 words
The null seeking control system of claim 1 in which each said detector means includes a pair of sensors and a differential amplifier responsive to the outputs of said pair of sensors.
Claim 7
Dependent Claim
16 words
The null seeking control system of claim 1 in which said detectors are arranged in pairs.
Claim 8
Dependent Claim
23 words
The null seeking control system of claim 6 in which said detectors in each pair of detectors are arranged orthogonally to each other.
Claim 9
Dependent Claim
24 words
The null seeking control system of claim 6 in which said pairs of detectors are arranged at three spaced positions about said operator means.
Claim 10
Dependent Claim
16 words
The null seeking control system of claim 1 in which said threshold circuit includes comparator means.
Claim 11
Dependent Claim
16 words
The null seeking control system of claim 4 in which said threshold circuit includes comparator means.
Claim 12
Dependent Claim
41 words
The null seeking control system of claim 10 in which said comparator means includes a comparator circuit responsive to each said differential amplifier for indicating whether said operator means is offset in one of the directions or at a null region.
Claim 13
Dependent Claim
46 words
The null seeking control system of claim 1 in which said threshold circuit includes a multiple-level detector for determining whether said operator means is at the null region or is offset at one of a number of levels in one of said first and second directions.
Claim 14
Dependent Claim
32 words
The null seeking control system of claim 12 in which said correction circuit includes an encoder circuit for producing a binary output in response to the multilevel input from said level detector.
Claim 15
Dependent Claim
18 words
The null seeking control system of claim 1 in which said correction circuit includes a matrix multiplier circuit.
Claim 16
Dependent Claim
15 words
The null seeking control system of claim 1 in which said detector means detects force.
Claim 17
Dependent Claim
23 words
The null seeking control system of claim 1 in which said RCC device and detector means comprise an instrumented remote center compliance device.
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) | 1986-10-17 | 1987-04-18 | 1987-10-18 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1990-10-17 | 1991-04-18 | 1991-10-18 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1994-10-17 | 1995-04-18 | 1995-10-18 | $7700.00 | Window Closed / Lapsed |