Patent ID: 9102052
Filing Date: 2015-08-11
Classification: B25J

Abstract:
1. A control system for controlling an articulated manipulator arm by way of a master arm, the manipulator arm having a plurality of arm segments interconnected by joints and at least three degrees of freedom including at least two of a pivot axis, a rotational axis, and a translational axis, the master arm having a plurality of arm segments interconnected by joints, each joint of the master arm corresponding to a joint of the manipulator arm, the master arm having at least three degrees of freedom corresponding to the at least three degrees of freedom of the manipulator arm such that the movement of the master arm can replicate movement of the manipulator arm, the manipulator arm being articulated by a plurality of hydraulic actuators to move the manipulator in each of its at least three degrees of freedom, each hydraulic actuator being connectable to a source of pressurized hydraulic fluid, the control system comprising: a computer configured to determine the rate of movement of the master arm in each direction replicating a degree of freedom of the manipulator arm; and a controller configured to control actuation of the manipulator arm based on the determined rate of the master arm without a closed control loop for providing positional feedback from the manipulator arm, wherein the master arm is operable to selectively deactivate the controller to permit movement of the master arm without causing corresponding movement of the manipulator arm, and whereby the rate of movement of the manipulator arm in each of said at least three degrees of freedom is proportional to the rate of movement of the master arm in each direction replicating a degree of freedom of the manipulator arm.