Patent ID: 6204620
Filing Date: 2001-03-20
Classification: B25J,G05B

Abstract:
A method of controlling a powered manipulator (10) having at least one motor (12), at least one force sensor (14) on a manual control handle (16) combined with a microprocessor (18) for controlling the powered manipulator (10) within mechanical limits of the powered manipulator (10), said method comprising the steps of:imparting a force on the control handle (16);sensing the direction and magnitude of the force with the force sensor (14) and sending force data to the microprocessor (18);processing the force data from the force sensor (14) with the microprocessor (18) to create movement commands for the powered manipulator (10);moving said powered manipulator (10) in response to the movement commands from the microprocessor (18);said method characterized by programming the microprocessor (18) for establishing virtual constraints to limit the movement of the powered manipulator (10) within a virtual workspace to prevent an operator from moving the powered manipulator (10) to at least some of the physical limits of a workspace.