Aktives Handsteuerungsystem

摘要

The system has a rate detector providing a rate signal from a first actuator. A torque detector provides a first torque signal from a first hand controller. A position detector provides a first position signal from the first actuator. A processing and control circuit accepts the signals along with a force scaling command signal and provides a drive signal to the first actuator. The processing and control circuit includes numerous parameters, adjustable to a value. The values determine a relationship of the drive signal to the detected signals. A state detector and parameter controller accept the signals and process them, according to a first sequence. Numerous control parameter adjustment signals are provided to adjust the adjustable control parameters to numerous values. The values have a relationship to the torque signal, the position signal and the force scaling command signal.