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Zoltan F Szakaly: Synchronized computational architecture for generalized bilateral control of robot arms. The United States of America represented by the Administrator of the National Aeronautics and Space Administration, Thomas H Jones, John R Manning, August 6, 1991: US05038089 (309 worldwide citation)

A master six-degree-freedom Force Reflecting Hand Controller ("FRHC") is available at a master site where a received image displays, in essentially real-time, a remote robotic manipulator which is being controlled in the corresponding six-degree-freedom by command signals which are transmitted to th ...


2
Zoltan F Szakaly: Universal computer control system for motors. The United States of America represented by the Administrator of the National Aeronautics and Space Administration, Thomas H Jones, Harold W Adams, John R Manning, September 10, 1991: US05047700 (22 worldwide citation)

A control system for a multi-motor system such as a space telerobot having a remote computational node and a local computational node inter-connected with one another by a high speed data link is described. A Universal Computer Control System (UCCS) for the telerobot motors is located at each node. ...