| Predicate |
Object |
| assignee |
http://rdf.ncbi.nlm.nih.gov/pubchem/patentassignee/MD5_8381805eba6d034fc77bd230dd02e6e2 |
| classificationCPCAdditional |
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2034-306
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/Y10S901-10
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/Y10S901-29
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2017-00477
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2017-00212
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B90-98
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2017-00703
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2034-2057
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2090-506
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2034-2065
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2017-00075
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2034-305
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2034-715 |
| classificationCPCInventive |
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/B25J9-1615
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/B25J9-1697
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B34-37
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/B25J9-1689
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B34-71
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B34-70
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B34-76
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B34-30
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/B25J19-021
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B34-35
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B34-77
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/B25J3-00 |
| classificationIPCInventive |
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/A61B19-00
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/B25J3-00
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/B25J9-16 |
| filingDate |
1998-09-18-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| inventor |
http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_39d57d75c9161e05fe3ca840f772b5ab
http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_471d86ad0c67f2ce51e88913f2894f17
http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_421a2a0a1c48829bc7245ab6d46edddf |
| publicationDate |
2000-07-05-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| publicationNumber |
EP-1015944-A1 |
| titleOfInvention |
Robotic apparatus |
| abstract |
A robotic apparatus has eight actuators (M0-M7) and a linkage (LINK 0 - LINK 5) that actuates an end effector. Three serial macro freedoms have large ranges of motion and inertias. Four serial micro freedoms have small ranges of motion and inertias. Translation of the end effector in any direction is actuated by at least one micro joint and at least one macro joint. The apparatus can be part of a master and slave combination, providing force feedback without any explicit force sensors. The slave is controlled with an Inverse Jacobian controller, and the master with a Jacobian Transpose controller. A slave having more degrees-of-freedom (DOFs) than the master can be controlled. A removable effector unit actuates its DOFs with cables. Beating heart surgery can be accomplished by commanding the slave to move with a beating heart, and cancelling out any such motion in the motions perceived by the master. |
| isCitedBy |
http://rdf.ncbi.nlm.nih.gov/pubchem/patent/KR-101404447-B1 |
| priorityDate |
1997-09-19-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| type |
http://data.epo.org/linked-data/def/patent/Publication |