Abstract: A folded remote center compliance device including first and second structures serially connected between a mounting member and an operator member for enabling translational motion and rotational motion of the operator member about a remote center at, near, or beyond the end of the operator member; one of the structures including at least two stages connected in series, each stage including flexure means disposed along radii of a focus, the first of the stages being connected with the other of the structures and a second of the stages being connected with one of the members, the other of the members being connected with the other of the structures, and an intermediate section for interconnecting flexure means in adjacent stages.

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.

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.