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1. 再颁专利

USRE37374E1 Gyro-stabilized platforms for force-feedback applications 有权
标题翻译：用于力反馈应用的陀螺稳定平台
公开(公告)号：USRE37374E1
公开(公告)日：2001-09-18
申请号：US09452682
申请日：1999-11-30
申请人： Gerald P. Roston , Charles J. Jacobus
发明人： Gerald P. Roston , Charles J. Jacobus
IPC分类号： G05B1302
CPC分类号： G05B5/01 , B25J9/1689 , F16F15/00 , G05B13/042 , G05B2219/37164 , G05B2219/37174 , G05B2219/40122 , G05B2219/41274 , G05G5/03 , G06F3/016 , G06F2203/013 , G06F2203/015
摘要： Force feedback in large, immersive environments is provided by device which a gyro-stabilization to generate a fixed point of leverage for the requisite forces and/or torques. In one embodiment, one or more orthogonally oriented rotating gyroscopes are used to provide a stable platform to which a force-reflecting device can be mounted, thereby coupling reaction forces to a user without the need for connection to a fixed frame. In one physical realization, a rigid handle or joystick is directly connected to the three-axis stabilized platform and using an inventive control scheme to modulate motor torques so that only the desired forces are felt. In an alternative embodiment, a reaction sphere is used to produce the requisite inertial stabilization. Since the sphere is capable of providing controlled torques about three arbitrary, linearly independent axes, it can be used in place of three reaction wheels to provide three-axis stabilization for a variety of space-based and terrestrial applications.
摘要翻译：在大型身临其境的环境中的力反馈由设备提供，陀螺稳定器为必要的力和/或扭矩产生固定的杠杆作用点。在一个实施例中，使用一个或多个正交取向的旋转陀螺仪来提供能够安装力反射装置的稳定平台，由此将反作用力耦合到使用者而不需要连接到固定框架。在一个物理实现中，刚性手柄或操纵杆直接连接到三轴稳定平台，并且使用本发明的控制方案来调节电机扭矩，使得仅感觉到期望的力。在替代实施方案中，反应球用于产生必需的惯性稳定化。由于球体能够提供围绕三个任意的线性独立的轴的受控转矩，所以它可以用于代替三个反作用轮，以为各种基于空间和陆地的应用提供三轴稳定。

2. 再颁专利

USRE44396E1 Gyro-stabilized platforms for force-feedback applications 有权
标题翻译：用于力反馈应用的陀螺稳定平台
公开(公告)号：USRE44396E1
公开(公告)日：2013-07-30
申请号：US11782998
申请日：2007-07-25
申请人： Gerald P. Roston , Charles J. Jacobus
发明人： Gerald P. Roston , Charles J. Jacobus
IPC分类号： G05B13/02 , B25J9/00
CPC分类号： G06F3/016 , F16F15/00 , G05B5/01 , G05B13/042 , G05B2219/37164 , G05B2219/37174 , G05B2219/40122 , G05B2219/41274 , G05G5/03 , G06F2203/013 , G06F2203/015
摘要： Force feedback in large, immersive environments is provided by device which a gyro- stabilization to generate a fixed point of leverage for the requisite forces and/or torques. In one embodiment, one or more orthogonally oriented rotating gyroscopes are used to provide a stable platform to which a force-reflecting device can be mounted, thereby coupling reaction forces to a user without the need for connection to a fixed frame. In one physical realization, a rigid handle or joystick is directly connected to the three-axis stabilized platform and using an inventive control scheme to modulate motor torques so that only the desired forces are felt. In an alternative embodiment, a reaction sphere is used to produce the requisite inertial stabilization. Since the sphere is capable of providing controlled torques about three arbitrary, linearly independent axes, it can be used in place of three reaction wheels to provide three-axis stabilization for a variety of space-based and terrestrial applications.
摘要翻译：在大型沉浸式环境中的力反馈由设备提供，陀螺稳定器为必要的力和/或扭矩产生固定的杠杆作用点。在一个实施例中，使用一个或多个正交取向的旋转陀螺仪来提供能够安装力反射装置的稳定平台，由此将反作用力耦合到使用者而不需要连接到固定框架。在一个物理实现中，刚性手柄或操纵杆直接连接到三轴稳定平台，并且使用本发明的控制方案来调节电机扭矩，使得仅感觉到期望的力。在替代实施方案中，反应球用于产生必需的惯性稳定化。由于球体能够提供围绕三个任意的线性独立的轴的受控转矩，所以它可以用于代替三个反作用轮，以为各种基于空间和陆地的应用提供三轴稳定。

3. 发明授权

US5754023A Gyro-stabilized platforms for force-feedback applications 失效
公开(公告)号：US5754023A
公开(公告)日：1998-05-19
申请号：US736016
申请日：1996-10-22
申请人： Gerald P. Roston , Charles J. Jacobus
发明人： Gerald P. Roston , Charles J. Jacobus
IPC分类号： B25J9/16 , F16F15/00 , G05B5/01 , G05B13/04 , G05G5/03 , G06F3/00 , G06F3/01 , G05B13/02 , B25J9/00
CPC分类号： G05B5/01 , B25J9/1689 , F16F15/00 , G05B13/042 , G05G5/03 , G06F3/016 , G05B2219/37164 , G05B2219/37174 , G05B2219/40122 , G05B2219/41274 , G06F2203/013 , G06F2203/015
摘要： Force feedback in large, immersive environments is provided by device which a gyro- stabilization to generate a fixed point of leverage for the requisite forces and/or torques. In one embodiment, one or more orthogonally oriented rotating gyroscopes are used to provide a stable platform to which a force-reflecting device can be mounted, thereby coupling reaction forces to a user without the need for connection to a fixed frame. In one physical realization, a rigid handle or joystick is directly connected to the three-axis stabilized platform and using an inventive control scheme to modulate motor torques so that only the desired forces are felt. In an alternative embodiment, a reaction sphere is used to produce the requisite inertial stabilization. Since the sphere is capable of providing controlled torques about three arbitrary, linearly independent axes, it can be used in place of three reaction wheels to provide three-axis stabilization for a variety of space-based and terrestrial applications.

4. 再颁专利

USRE39906E1 Gyro-stabilized platforms for force-feedback applications 有权
标题翻译：用于力反馈应用的陀螺稳定平台
公开(公告)号：USRE39906E1
公开(公告)日：2007-11-06
申请号：US09888291
申请日：2001-06-21
申请人： Gerald P. Roston , Charles J. Jacobus
发明人： Gerald P. Roston , Charles J. Jacobus
IPC分类号： G05B13/02 , B25J9/00
CPC分类号： G06F3/016 , F16F15/00 , G05B5/01 , G05B13/042 , G05B2219/37164 , G05B2219/37174 , G05B2219/40122 , G05B2219/41274 , G05G5/03 , G06F2203/013 , G06F2203/015
摘要： Force feedback in large, immersive environments is provided by device which a gyro- stabilization to generate a fixed point of leverage for the requisite forces and/or torques. In one embodiment, one or more orthogonally oriented rotating gyroscopes are used to provide a stable platform to which a force-reflecting device can be mounted, thereby coupling reaction forces to a user without the need for connection to a fixed frame. In one physical realization, a rigid handle or joystick is directly connected to the three-axis stabilized platform and using an inventive control scheme to modulate motor torques so that only the desired forces are felt. In an alternative embodiment, a reaction sphere is used to produce the requisite inertial stabilization. Since the sphere is capable of providing controlled torques about three arbitrary, linearly independent axes, it can be used in place of three reaction wheels to provide three-axis stabilization for a variety of space-based and terrestrial applications.
摘要翻译：在大型沉浸式环境中的力反馈由设备提供，陀螺稳定器为必要的力和/或扭矩产生固定的杠杆作用点。在一个实施例中，使用一个或多个正交取向的旋转陀螺仪来提供能够安装力反射装置的稳定平台，由此将反作用力耦合到使用者而不需要连接到固定框架。在一个物理实现中，刚性手柄或操纵杆直接连接到三轴稳定平台，并且使用本发明的控制方案来调节电机扭矩，使得仅感觉到期望的力。在替代实施方案中，反应球用于产生必需的惯性稳定化。由于球体能够提供围绕三个任意的线性独立的轴的受控转矩，所以它可以用于代替三个反作用轮，以为各种基于空间和陆地的应用提供三轴稳定。

5. 发明授权

US5886490A Digital rotary optical accelerator 失效
标题翻译：数字旋转光学加速器
公开(公告)号：US5886490A
公开(公告)日：1999-03-23
申请号：US848515
申请日：1997-04-28
申请人： Michael Justin Miller , Scott Robert Shepler , Bruce Alan Nielsen
发明人： Michael Justin Miller , Scott Robert Shepler , Bruce Alan Nielsen
IPC分类号： G05B13/00 , H02P5/34
CPC分类号： G05B11/28 , G05B2219/23379 , G05B2219/35459 , G05B2219/37174 , G05B2219/42237
摘要： A method and apparatus are provided for controlling the operational characteristics of a motor. The method includes the steps of reading a plurality of optically encoded controller position signals, determining a motor control signal state and differential based thereon and outputting a motor control signal. The central operation of the method and apparatus is based on a motor control signal state diagram and the transitions therein. The apparatus includes a rotary digital optical encoder having a plurality of output signals, a programmable controller device and an output circuit. The programmable controller device includes motor control logic for determining the operational characteristics of a motor. The motor control signal may be either/or a pulse width modulated (PWM) or analog output. Additionally, described embodiments include an apparatus having logic for determining the directional characteristics of a motor.
摘要翻译：提供了一种用于控制电动机的操作特性的方法和装置。该方法包括以下步骤：读取多个光学编码的控制器位置信号，基于其确定电动机控制信号状态和差分，并输出电动机控制信号。该方法和装置的中心操作基于电机控制信号状态图及其中的转换。该装置包括具有多个输出信号的旋转数字光学编码器，可编程控制器装置和输出电路。可编程控制器装置包括用于确定电动机的操作特性的电动机控制逻辑。电机控制信号可以是/或脉宽调制（PWM）或模拟输出。另外，所描述的实施例包括具有用于确定电动机的方向特性的逻辑的装置。

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