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1.发明申请公开(公告)号：US20120041595A1
公开(公告)日：2012-02-16
申请号：US13208090
申请日：2011-08-11
申请人： Daniel Greeley , Daniel Fourie , Bryce Lee , Yevgeniy Kozlenko , David Wilkinson , William T. Townsend
发明人： Daniel Greeley , Daniel Fourie , Bryce Lee , Yevgeniy Kozlenko , David Wilkinson , William T. Townsend
CPC分类号： B25J13/02 , B25J3/04 , B25J13/025 , H01H9/06 , Y10T74/20201
摘要： A pistol-grip controller for the control of a robotic or virtual hand has multiple dual-action switching mechanisms positioned to simulate intuitively the motion of grasping and releasing an object. An externally-projecting switch trigger of each switching mechanism is hook-shaped to facilitate the operator donning and doffing the controller. These switches move in response to gripping and releasing movements of the associated fingers so as to close or open peripherals (fingers) of the end effector hand. A rocker switch allows an operator to toggle conveniently between commonly used modes of a virtual or robot hand, or the like. The mode toggling is complemented by a control to adjust between the commonly used modes of operation. To make the manipulation of the end effector more intuitive, the controller remaps the switching mechanisms to different functionalities on the end effector based on the mode of operation. The transition between switch to end effector mappings is hysteretic. In addition, the pistol-grip controller can be attached to an appropriate “master” robot arm and can be moved as a whole to create like roll, pitch and yaw movements and x, y and z displacements of the end effector on the “slave” robot arm without the actuation of any of the switches.
摘要翻译： 用于控制机器人或虚拟手的手枪式握持控制器具有多个双重动作切换机构，其被定位成直观地模拟抓取和释放对象的运动。 每个切换机构的外部投影开关触发器是钩形的，以便于操作者穿戴和落下控制器。 这些开关响应于相关联的手指的夹紧和释放运动而移动，以便关闭或打开末端执行器手的外围设备（手指）。 摇杆开关允许操作者在虚拟或机器人手的常用模式之间方便地切换等。 模式切换由一个控制来补充，以便在常用的操作模式之间进行调整。 为了使末端执行器的操纵更直观，控制器基于操作模式将切换机构重新映射到末端执行器上的不同功能。 切换到末端效应器映射之间的转换是迟滞的。 此外，手枪把手控制器可以连接到适当的“主”机器人手臂，并且可以作为一个整体移动，以形成类似的滚动，俯仰和偏航运动，以及末端执行器在“从站”上的x，y和z位移 “机器人手臂没有任何开关的动作。
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公开(公告)号：US09020644B2
公开(公告)日：2015-04-28
申请号：US13208090
申请日：2011-08-11
申请人： Daniel Greeley , Daniel Fourie , Bryce Lee , Yevgeniy Kozlenko , David Wilkinson , William T. Townsend
发明人： Daniel Greeley , Daniel Fourie , Bryce Lee , Yevgeniy Kozlenko , David Wilkinson , William T. Townsend
CPC分类号： B25J13/02 , B25J3/04 , B25J13/025 , H01H9/06 , Y10T74/20201
摘要： An end effector controller that is gripped by an operator in one hand, including a pistol-grip housing configured to fit in the palm of an operator's hand when gripped and having mounted thereon a plurality of switching mechanisms with pivoting, dual-acting switch triggers each configured for independent actuation by multiple fingers of the hand when said controller is gripped, and a method for controlling a robotic end effector remotely using the operator hand-gripped controller, the method including switching between preset operating modes of the end effector using a single, control input element, easily actuated by a finger in the operator's gripping hand; and providing continuous fine adjustment between preset modes using a second, control input element also easily actuated by a finger on the operator's gripping hand.
摘要翻译： 一个端部执行器控制器，其一方面由操作者夹持，包括手枪式抓握壳体，其构造成当夹紧并装配有多个具有枢转的双作用开关的开关机构时，装配在操作者的手掌中， 配置为当握持所述控制器时由手的多个手指进行独立致动，以及用于使用操作者手持式控制器远程控制机器人末端执行器的方法，所述方法包括使用单个操作器切换末端执行器的预设操作模式， 控制输入元件，由操作者握紧手中的手指容易地致动; 并且使用第二控制输入元件在预设模式之间提供连续的微调，也可以由手指在操作者的握持手上容易地致动。
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