Paul G. Griffiths,Paul W. Mohr,Nitish Swarup,Michael Costa,David Q. Larkin,Thomas G. Cooper
申请号：
US16355517
公开号：
US20190209251A1
申请日:
2019.03.15
申请国别(地区):
US
年份:
2019
代理人:
摘要：
A tele-operated system includes a platform, a manipulator supported by the platform, a support structure supporting the platform, and a processor. In a platform movement mode the processor is configured to sense a manual movement of a link of the manipulator relative to the platform that moves the link from a first to a second positional relationship relative to the platform wherein a difference between the first and second positional relationships includes a displacement having components in first, second, and third directions that are perpendicular to one another, calculate, in response to the sensed manual movement, a command for the support structure that causes the link to move in the first direction so as to reduce the displacement in the first direction and does not change the displacement in the second direction, and transmit the command to the support structure so as to move the platform and the manipulator.
