Abstract: A plurality of electromagnetics in an array surround a shaft, with current controlled in the coils of the electromagnets to support the shaft at a desired position approximately centered between the electromagnets. Shaft position sensors provide feedback to a control system for modulating the current to the electromagnet coils, which are arranged in pairs on opposite sides of the shaft. A drive circuit for each coil includes first and second switching transistors which connect the coil to the power supply to transfer a current pulse to the coil. A pair of circulating diodes begin conducting when the transistors turn off, and return power to the supply. A control circuit for the drive circuits interleaves on and off intervals for the coils in the electromagnet pairs so that one coil of the pair is being switched off at about the same time as the other coil of the pair is being switched on.

Abstract: A connection element such as a thimble connects to a user's body member and, through a linkage, to a ground reference. The apparatus physically exchanges a force with a user in an environment local to the user. The linkage powers at least three independent freedoms of the connection element relative to the reference. It also maintains at least one independent freedom of the connection element relative to the reference free of power. Up to three independent freedoms of the connection element may be maintained free of power, and up to five independent freedoms may be powered. A gimbal connects the gimbal to the linkage. Zero, one or two of the gimbal axes may be powered. A five bar linkage connects the connection element to a counter-balance that also includes two actuators. A third actuator connects the five bar linkage to the reference. The two actuators of the counterbalance may be connected to the next link in the chain to the reference through a single cable.

Abstract: The control system includes a control member connected to a control centering device which resists operational control member movement and returns it to a neutral position upon release thereof. Force and position sensors connected to the control member determine operator force exerted thereon as well as the position thereof. Output from the sensors is transmitted to a computer which also receives data relating to position of aircraft controlled surfaces and aerodynamic forces acting on the aircraft as well as flight data, etc. The computer combines and compares that data with other data relating to frictional forces produced by movement of the mechanical control system and data relating to desired control member resistive forces under predetermined operational conditions. The computer thereby determines the magnitude of the control member resistive forces required to produce the desired tactile feel and provides an output based thereon to an actuator which applies these forces to the control member.

Abstract: In a system including a machine tool which operates on conveyed workpieces, a motion controller for the NC-controlled machine tool is improved by performing compensation for conveyor movement outside of the operation processor, so that compensation may be performed without modification of a machining program which does not take conveyor movement into consideration.

Abstract: An active hand controller system includes a moment cell for generating a signal representative of the force or torque applied to the stick of the hand controller by a user. The moment cell has an internal center of rotation and distributed masses are used to counterbalance the effect of inertial forces on the stick of the hand controller.

Abstract: Methods and apparatus for providing improved gain and bandwidth and robust damping of mechanical resonances for a servo control system by providing a collocated or nearly collocated feedback loop that operates in parallel with the ordinary feedback loop used for position or velocity feedback.

Abstract: A state detector and loop compensation parameter controller for use with an active hand controller system having a single hand controller or having first and second hand controllers, processing and control means for the hand controllers and a flight control computer. The state detector and loop compensation parameter controller accepts a plurality of inputs and provides a plurality of adjustment signals to the processing and control means to improve the performance of the active hand controller system.

Abstract: A method of fine tuning the "gain" of a fuzzy logic controller, the controller having input and output membership functions where the input membership functions receive one or more inputs and are grouped in sets according to each input, where the gain is tuned by uniformly scaling the domains of one or more of the sets of the input membership functions.

Abstract: An electromechanical transducer having a first element movable in relation to a second element, wherein the first and second elements perform a translational movement relative to one another. A transducer element mechanically coupled to the first element and second elements for converting the translational movement into an electrical signal. A transmission element converting the relative translational movement of the first and second elements into a rotating movement of the transducer element so as to produce the electrical signal.Applicant claims, under 35 U.S.C. .sctn.120, the benefit of priority of the filing date of Jun. 17, 1991, of International Patent Application PCT/NL91/00099, copy attached, filed on the aforementioned date, the entire contents of which are incorporated herein by reference. Applicant also claims, under 35 U.S.C. .sctn.119, the benefit of priority of the filing date of Jun. 19, 1990, of Netherlands Patent Application No.

Abstract: A control device, particularly a rotary controller for manual entry of information into an electronic device, has a setting member the position of which can be changed under the effect of an actuating force. The setting member is connected with a generator for producing electric signals which characterize the position of the setting member. A drive element is connected with the setting member and, under the control of the electric signals, exerts a force on the setting member which acts in the same direction as or in the direction opposite to the actuating force, depending on the position of the setting member for haptic acknowledgement of the operation of the setting member.

Abstract: An apparatus is provided for controlling an industrial robot of the type which holds a workpiece for movement relative to a fixed tool or a series of fixed tools. The robot control apparatus prepares and stores a task program which itself includes teaching data regarding the positional and attitudinal relation wXt.sub.j of the tool tip relative to the workpiece reference point as well as the setting data regarding the tool and the workpiece.

Abstract: The invention fulfills new goals for redundancy resolution based on manipulator dynamics and end-effector characteristics. These goals are accomplished by employing the recently developed configuration control approach. Redundancy resolution is achieved by controlling the joint inertia matrix or the end-effector mass matrix that affect the inertial torques, or by reducing the joint torques due to gravity loading and payload. The manipulator mechanical-advantage and velocity-ratio are also used as performance measures to be improved by proper utilization of redundancy. Furthermore, end-effector compliance, sensitivity, and impulsive force at impact are introduced as redundancy resolution criteria. The new goals for redundancy resolution allow a more efficient utilization of the redundant joints based on the desired task requirements.

Abstract: A telerobotic system provides a means for transmitting data between a master and a remote slave unit with a time delay therebetween. The master and slave unit form a closed loop in which motion commands are transmitted from the master to the slave and force data is transmitted back from the slave to the master. Stability is obtained over time delay by means of transforming the motion data into a wave representation in transmission between the master and slave. The signal from the master to the slave may be characterized generally as u=F+bx while the signal from the slave to the master may be characterized generally as v=F-bx where F equals the force imparted by the environment, x equals the velocity commanded by the master, and b is a characteristic wave impedance.

Abstract: An active hand controller system is provided wherein a feedback loop detects the position of a control stick to control a motor driving the control stick to thereby provide certain force feel characteristics to the control stick. The feedback loop includes a detector for detecting force exerted for the control stick to generate a signal indicative of the force or torque being applied to the control stick. In a more specific aspect, the invention includes the use of variable reluctance transformers, preferably in a push/pull configuration to detect the forces being exerted on the control stick.

Abstract: A draw frame with a main control for a drafting arrangement having at least one independent drive group for at least one drafting zone. Each independent drive group has an auxiliary closed loop control system having a controller. Fiber slivers are drawn through the drafting arrangement through the drafting zones. When the control the range of a certain controller is exceeded, a nominal adjustment of at least one drive group is effected through a control connection.

Abstract: A control for a device of the type comprising at least one electronic measuring head supported by a structure composed of several elements that are capable of being displaced along the three axes X, Y and Z driven by means of electric motors 12 to 14 having a speed regulator and a control means for supply circuits 12a to 14a of the above motors.According to the invention, the manual control comprises at least one control assembly 20 mounted on an element of the structure and having a single lever for actuating a harness that detects the displacements of said lever by use of sensors 30 to 37 mounted thereon and convert the displacement into voltages a, b, c and d.

Abstract: A feedback-type position control method by which position control can be effected properly and easily in various machines. A pulse number converter (5) obtains the sum of a remainder (Rn-1) for a preceding cycle and the product of the number (xn) of feedback pulses delivered from a pulse coder (4) within a predetermined period and a first conversion coefficient (A) (S1 to S3). If the sum is positive or zero, position feedback pulses corresponding in number to a quotient (yn') obtained by dividing the absolute value of the sum by a second conversion coefficient (B) are delivered, and a remainder (Rn') resulting from the division is stored as a remainder (Rn) used to obtain the sum for the next cycle (S4 to S8).

Abstract: An actuator suitable for autopilot control of a helicopter tail rotor comprises a direct current motor, a non-reversible gearbox, a speed reducer driving an output shaft, a friction device disposed between the non-reversible gearbox and the speed reducer and a friction exceeded sensing device adapted to cut off the supply of power to the motor.

Abstract: A manipulator, having six degrees of freedom of movement and having a force sensor mounted thereto, is controlled by computing forces and moments applied to the regions of the manipulator from the output of the force sensor. When a force and/or a moment in excess of an allowable load and an allowable load moment of the regions is applied to any region, the joint subjected to the largest load is stopped to save energy consumption of the manipulator. Alternatively by driving the joint in the direction of lessening the load and the load moment, forces and/or moments are prevented from being applied to the regions of the manipulator. Therefore, optimum design is made possible with regard to the strength of the regions of the manipulator and reductions in size and weight of the manipulator can be achieved.

Abstract: A unique steer/drive control system is featured for steering a material handling vehicle by the use of directly coupled traction and steering motors. The steering motor is fabricated as a hollow shaft dc motor, whose inner ring represents the rotor, and whose outer ring represents the stator. The stator is connected to a frame of the vehicle carrying the steering and drive wheel. The rotor is integrally connected to the traction motor that drives the steering and drive wheel. A hand operated steering mechanism rotationally guides the vehicle. A steering angle sensor determines the difference between actual and desired heading of the steering and drive wheel. The steer/drive system utilizes the sensed difference, and generates a signal for controlling the heading of the steering and drive wheel.

Abstract: A numerical control device for a grinding machine is equipped with a servo-motor which moves at least one of a spindle and a dresser. The spindle and/or the dresser moves relative to the dresser shaft center direction and the rotor shaft center direction. The numerical control device compensates an amount of servo lag using a target position compensation calculating circuit. A unit time target position is obtained by performing a track calculation at unit times on the basis of the amount of servo lag stored in a storage device. Feedback control of the servo motor is effected by calculating a compensated target position dependent on the unit time target position.

Abstract: A gear box (30) housing a reduction gear unit (24) and supporting a drive motor (22), and a elongated screw shaft (12) is fitted over a base plate (14) so that an area of a shaft supporter (10) projected in a plane perpendicular to a longitudinal direction of the elongated screw shaft is reduced, which supporter supports both ends of the elongaged screw shaft (12) for moving a movable element such as an arm of an industrial robot in a predetermined direction. Furthermore, a circular boss portion (32b) provided at the lower face of the gear box (30) and a hole (14a) provided at the base plate (14) are used for positioning the gear box on the base plate (14), and the positioning in a height direction is achieved by positioning elements (40) having a predetermined height dimension when the gear box (30) is attached to the base plate (14).

Abstract: The present invention relates to a digital servo-control system whose purpose is to control very high precision equipment. The system includes two digital-to-analog converters, one of which is followed by a divider, with the two converters contributing to producing a control signal. A processor responds to a measurement signal and to a reference value to generate the digital values that are delivered to the converters. The system is particularly suitable for application to servo-controlling a voltage-controlled oscillator.

Abstract: A motor control device for a powered seat comprising a switch capable of selective determination for rotation direction of a motor and further of depression for adjustment of rotation rate of the motor, and an electric circuit for causing the motor to rotate in a selected one of normal and reverse directions and increase or decrease its rotation rate in response to the switch-over and depressing/releasing operations of such one switch only.

Abstract: A method and apparatus to control a robot or manipulator configuration over the entire motion based on augmentation of the manipulator forward kinematics. A set of kinematic functions is defined in Cartesian or joint space to reflect the desirable configuration that will be achieved in addition to the specified end-effector motion. The user-defined kinematic functions and the end-effector Cartesian coordinates are combined to form a set of task-related configuration variables as generalized coordinates for the manipulator. A task-based adaptive scheme is then utilized to directly control the configuration variables so as to achieve tracking of some desired reference trajectories throughout the robot motion. This accomplishes the basic task of desired end-effector motion, while utilizing the redundancy to achieve any additional task through the desired time variation of the kinematic functions.

Abstract: An electronic processing circuit 17 compares digital signals representing the position of a number of mutually connected control members to the contents of an electronic memory 18. On detecting a difference indicating the displacement of the position of one of the control members, the circuit 17 actuates those motors of motors 4, 5, 6 which are associated with the non-actuated control members in order to make them folllow the displacement. Excessive displacements indicating a fault are shown on an indicator 19.

Abstract: A drive controlling apparatus for controlling movement of a movable member having a mechanically limited range of movement, comprises a drive device for driving the movable member, a feedback pulse generator for detecting the movement of the movable member and for outputting a number of pulse signals corresponding to an amount of the movement of the movable member, a main timer for measuring the period of the pulse signals, and for outputting a signal when a measured time period coincides with one of a plurality of comparison values, a sub timer for measuring one or more time periods from the start of the drive device to the steady state of the drive device and for changing the plurality of comparison values successively, and a control circuit for stopping the drive device in response to the signal outputted from the main timer.

Abstract: An industrial robot control apparatus for teaching an industrial robot and operating the robot in accordance with the teaching comprises a teaching handle (9) having a teaching switch (10), and a brake release switch (11) and a sequence control circuit (1). When the operator grips the teaching handle (9), the brake release switch (11) is activated, whereby a servo amplifier (6) is brought to an emergency stop condition in response to a signal from the switch, and a dynamic brake and a mechanical brake are released.

Abstract: A fast response control circuit for providing an output signal in miminum time after receiving an enabling input signal. The control circuit includes an amplifier which provides an output signal having a magnitude determined by a variable input signal when the enabling input signal indicates that an output signal is desired. A feedback network and the amplifier together define a control loop which has a characteristic response time. When the enable signal is absent, a bias control biases a reactive component in the control loop so as to minimize this response time. The circuit is adapted for use in a fluid mass flow controller to provide rapid response to an enabling input signal, particularly when a very low fluid flow rate is desired.

Abstract: Operating device for the cover of a sliding and lifting sunroof of a motor vehicle having a desired value transmitter and an actual value transmitter for controlling the sliding sunroof function and the lifting roof function via an actuator that is part of a control circuit. By the control circuit, the desired value signal supplied by the desired value transmitter and corresponding to the respective desired position of the cover selected is compared with an actual value signal of the actual value transmitter corresponding to the respective actual position of the cover to cause the cover position to be adjusted until the actual cover position matches that desired. The operating element of the desired value transmitter is mounted, to slide for producing for a sliding of the cover, and to swing for producing a cover tilting-out movement.

Abstract: A force feeling type master/slave manipulator comprises a detector for detecting a positional difference between master and slave machines, an actuator provided on the slave side and actuated so that the slave follows up the master on the basis of the above positional difference the manipulator, and a pressure sensor for detecting a pressure in a hydraulic cylinder in which an output signal of the pressure sensor is divided by any one of the shifting speed of a slave working machie, manipulating or operating speed of a master control lever, displacement in a spool of a flow control servo valve, speed difference between the master control lever and slave working machine and positional difference between the master control lever and slave working machine. The divided value signal is used to drive a torque actuator provided in a joint part of the control lever.

Abstract: A clutch/damper for isolating and absorbing vibration induced reactive torques from adversely affecting a motor drive system. A friction plate variably engages a gear coupled to the drive motor and to a load mass to permit normal drive in the absence of excessive reactive torque forces and to allow the motor to continue to drive against a slipping load in the presence of excessive reactive torque forces. Feedback is employed in the drive system to compensate for the small errors induced by the slippage.

Abstract: A control system having a rotatable knob for selecting various operating modes is described. The control system includes a stationary toroidal coil and a braking washer operatively connected with it. The rotary direction, the angular deflection and the function of the braking washer are scanned and supplied to an electronic processing system, whereupon the processing system furnishes the actual control commands to the equipment to be controlled. Among the uses for the control system are to enable remote control of various kinds of equipment in at least two modes of operation, one of them being speed control as a function of the rotational speed of the control system.

Abstract: An electromagnetic servo device (200) includes a driving control circuit (100), for an electric motor (20) for producing auxiliary torque to be applied to an output shaft (4). A control signal (Va) is provided to thereby supply an armature current (Io) of a controlled quantity, in a controlled direction of conduction thereof, in accordance with a detection signal (Vr, Vl) from a detection mechanism (13). The detection mechanism detects a phase difference (dP) between an input shaft (1) and the output shaft (4). The rotation speed (N) of the electric motor (20) is controlled with the control signal (Va), and is proportional to the quantity of the phase difference (dP).

Abstract: A man to machine interface for the control of video or motion picture camera movement for use with a camera aiming system which can reproduce a specific camera movement any number of times. The interface moves the camera in the pan or tilt axis giving an operator a natural control feel while actually driving the camera movement with a motor drive. A shaft encoder detects the velocity of the motor drive and stores such information over time in a memory. The data stored in the memory may be read out at a later time and used by the motor drive to replicate the movement of the camera.

Abstract: A system for remotely controlled performance of unmanned extravehicular activity in outer space, such as satellite maintenance and repair. The system comprises an orbitable space vehicle having a worksite accessible from the exterior of the vehicle and remotely controlled means associated with the space vehicle worksite for securing at the worksite the equipment in space upon which extravehicular activity is to be performed. At least one servo actuated manipulator slave subsystem is located adjacent to the worksite for performing work there. That slave subsystem is operatively interconnected to a remote manipulator master subsystem. A bilateral force reflective position control subsystem provides the hand of the operator of the master subsystem in a natural way with a sense of feel which is proportional to the loads applied by the operator through the slave subsystem and to loads imposed by the remote environment through the slave subsystem.

Abstract: A velocity control unit of a detecting head consists of a differentiation circuit for differentiating a reference velocity signal and feeding it via an analog switch to a first-order lag circuit which generates a feedforward signal. The analog switch is controlled by a constant velocity/deceleration detecting circuit so that it may be turned on in the constant velocity/deceleration period of the head.

Abstract: The specification discloses a self-blancing screw jack that is responsive to small manually applied "upset" loads to move the load in the desired direction. A strain gauge measure the total load and is used to establish a null signal representative of the load at rest. This nulled signal is then continuously compared with the actual load signal. When the actual load signal varies from the preset nulled signal by a predetermined value, the drive motor is actuated to drive the load in the direction of the variance. A non-reversible gear means is used to support the load in the at rest position.

Abstract: A motion converter is disposed at the input to a work station to convert the constant velocity of sheet material as it is payed out from a roll into a cyclic, stop and go motion. The motion converter includes a pair of actuators containing electromagnets and these are alternately energized to attract the sheet material first against a contoured surface and then a flat surface. Sheet material accumulates in a serpentine path within the motion converter when attracted toward the contoured surface and it is expelled rapidly therefrom when attracted toward the flat surface. A programmed position control operates the electromagnets in response to position feedback signals from sensors on the motion converter.

Abstract: A position servo system is described for positioning a member mounted on a spring. The spring provides a force opposing the motion of the member from an initial position. A position actuator, for example a motor, applies a force in response to a position request signal for moving the member to a desired position. A portion of the position feedback signal is applied from a position sensor to the motor as a positive feedback signal to compensate for the force of the spring. A steady state position error of the servo system is thereby substantially reduced to zero. A circuit and method for calibrating the positive feedback signal are also described.

Abstract: The steering or control force for operating a steering column in an aircraft, especially in a rotary wing aircraft, is stabilized. The steering column influences through an articulated steering or control linkage the elevator assembly or the rotor blade adjustment, whereby a signal is employed which is dependent on the measured flight speed. It is necessary to signal to the pilot at all times how the steering column must be moved. Such signalling must be definite and free of any disturbing influences and the pilot must receive such signalling through the steering column manual force which is a force reacting to the operation of the steering column. For this purpose a speed dependent signal is supplied to a servomotor. This signal rises with the flight speed at least above a preselectable threshold value. The servomotor in turn controls the tensioning state of a spring which is pivoted at one end to the steering column and at the other end to the displacement member of the servomotor.

Abstract: A self-balancing screw jack that is responsive to small manually applied "upset" loads to move the load in the desired direction. A strain gauge measure the total load and is used to establish a null signal representative of the load at rest. This nulled signal is then continuously compared with the actual load signal. When the actual load signal varies from the preset nulled signal by a predetermined value, the drive motor is actuated to drive the load in the direction of the variance. A non-reversible screw jack is used to support the load in the at rest position.

Abstract: An apparatus for rotary manual input utilizes an electromagnetic brake and control circuit to provide tactile feedback to the operator similar to that of a mechanical detent. A shaft connects a handwheel to the brake and to an incremental encoder. The torque generated by the brake when energized is small enough to allow easy rotation of the handwheel. The control circuit keeps the brake normally energized. As the handwheel is turned, the control circuit monitors the encoder position signals and momentarily de-energizes the brake for each incremental movement. The momentary loss of resistance is felt by the operator to verify the incremental movement. The encoder position signals are also made available to an external device, such as for example a Numerical Controller, to implement the commanded movement.

Abstract: Computer-augmented electromechanical system is provided for controlling the tongs of a servomanipulator. The mechanical tongs are motor-driven through the remote slave arm of the manipulator, and the motor control current is supplied by a position sensor which senses the position of a spring-loaded trigger in the master arm handle on the manipulator. The actuator for the tongs provides the operator with artificial force reflection in a unilateral force-force control loop.

Abstract: Control force errors are automatically eliminated in aircraft, especially licopters. Such errors may occur because of disturbing forces that act on a control stick (1) for the elevator and/or rotor blade adjustment. The following features are combined. A main control drive (3) for the adjusting of the elevators and/or rotor blades is connected through a control linkage (2) with the control stick (1). A spring box (5) with a pretensioned spring (17) is connected through a control rod (14) to the control stick (2) and to one end of the spring box (5). A trimming rod (15) of a trimming motor (4) is operatively connected to the other end of the spring box (5). To compensate the disturbing forces caused by the inertial mass forces acting upon the control stick (1) as much as possible there are further provided two displacement pickups (6) and (7) or a single displacement difference forming pickup (16). A first summing circuit (8) receives the output signals from the two pickups (6, 7).

Abstract: An electromagnetic position control apparatus including a rotary sphere having a permanent magnet. The rotary sphere is rotably supported within a spherical hole formed at a crossing portion of a cross-shaped yoke. Coils are used to create magnetic fields at the rotary sphere. The position of rotation of the rotary sphere is controlled in three dimensions by means of changing the intensity of the direct current supplied to the coils or the duty cycle of the pulse current supplied to the coils to change the intensity of the magnetic fields.

Abstract: A handle assembly for an x-ray examination apparatus for permitting a technician to position the apparatus above a patient with the aid of a support motor has a grip connected to the apparatus by two support elements, each of the support elements having a defined weak point, such as a segment of reduced thickness, and a plurality of control elements for operating the support motor in response to stresses experienced by the weak point caused by pulling on the grip. The control elements are connected between the support elements and the apparatus, spanning each weak point. Two control elements, disposed at right angles to each other, may be utilized for each weak point.

Abstract: In a control system having a manipulatable unit, such as an aircraft stick, which is biased toward a neutral position to provide control "feel", an input which at each instant signifies the position of displacement of the stick from its neutral position is processed to provide an output signifying the magnitude of the biasing force to be applied to the stick. In a range of positions spaced to one side of its neutral position (or in such a range at each side of neutral) the output provides for a steep biasing force gradient as the stick is moved through a predetermined distance in either direction from a turning point to which the stick had been brought by movement in the opposite direction. For all other movements of the stick within that range the biasing force has a low gradient. The higher gradient of bias for small trimming movements provides better feel for trimming without requiring stick bias to be unduly stiff during coarser stick displacements.

Abstract: An electronic motor control system is taught herein which utilizes a tachometer check circuit. The tachometer check circuit is an electrical circuit which is interconnected with the output terminals of the tachometer. The circuit is utilized when the tachometer is at standstill to determine if the tachometer is functional, that is, is it internally correctly wired to produce an expected signal upon rotation. If such is the case, then motor start-up may take place. A second test is performed after motor start-up for determining if an appropriate amount of output voltage is being produced by the tachometer during the start-up phase. This is based on expected values of voltage during a short period of time after start-up. If such is not the case, the motor control system is disabled and the motor is stopped. The system is utilized for embodiments which include AC tachometers as well as DC tachometers used on unidirectional or bidirectional rotational systems.

Abstract: A controller for producing electrical control signals has a relatively stationary supporting section providing an upwardly facing hand supporting surface and an upward projection, and has a stick-like control section mounted on a first gimbal joint on top of the projection, to swing about pitch and roll axes. A second gimbal joint is spaced along the roll axis from the first one and rotates about said roll axis and about a gimbal axis parallel to the pitch axis. A gimbal ring of the first joint is rigidly connected to a gimbal member of the second joint for unison rotation about the roll axis. A second gimbal member of the second joint is caused to rotate about said gimbal axis in unison with swinging of the control section about the pitch axis by a linkage connection between them. A signal generator for each of the pitch and roll axes and a stick force generating means for each of those axes are connected with respective gimbal members of the second joint.