Null seeking system for remote center compliance device

Details Null seeking system for remote center compliance device Null seeking system for remote center compliance device

B - Operations, Transporting

25

J

341/97

B25J 13/00 (2006.01) B23Q 35/22 (2006.01) B25J 9/16 (2006.01) B25J 19/00 (2006.01) G05D 3/12 (2006.01)

Patent

CA 1178359

ABSTRACT OF DISCLOSURE 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.

408512

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