The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jan. 16, 1990
Filed:
Mar. 26, 1987
Hiroshi Yoshinada, Machida, JP;
Shu Takeda, Hiratsuka, JP;
Kabushiki Kaisha Komatsu Seisakusho, Tokyo, JP;
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.