CA1080828A - Method and apparatus for generating position or path control programs using force feedback - Google Patents

Method and apparatus for generating position or path control programs using force feedback

Info

Publication number
CA1080828A
CA1080828A CA277,127A CA277127A CA1080828A CA 1080828 A CA1080828 A CA 1080828A CA 277127 A CA277127 A CA 277127A CA 1080828 A CA1080828 A CA 1080828A
Authority
CA
Canada
Prior art keywords
signals
positional
generating
positional condition
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
CA277,127A
Other languages
English (en)
French (fr)
Inventor
Carl F. Ruoff (Jr.)
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bendix Corp
Original Assignee
Bendix Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bendix Corp filed Critical Bendix Corp
Application granted granted Critical
Publication of CA1080828A publication Critical patent/CA1080828A/en
Expired legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0081—Programme-controlled manipulators with leader teach-in means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36429—Power assisted positioning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37357—Force, pressure, weight or deflection
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42168—Measuring of needed force for servo

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)
CA277,127A 1976-07-26 1977-04-27 Method and apparatus for generating position or path control programs using force feedback Expired CA1080828A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US70852176A 1976-07-26 1976-07-26

Publications (1)

Publication Number Publication Date
CA1080828A true CA1080828A (en) 1980-07-01

Family

ID=24846113

Family Applications (1)

Application Number Title Priority Date Filing Date
CA277,127A Expired CA1080828A (en) 1976-07-26 1977-04-27 Method and apparatus for generating position or path control programs using force feedback

Country Status (6)

Country Link
JP (1) JPS5314281A (OSRAM)
CA (1) CA1080828A (OSRAM)
DE (1) DE2728395A1 (OSRAM)
FR (1) FR2360117A1 (OSRAM)
GB (1) GB1532927A (OSRAM)
IT (1) IT1081643B (OSRAM)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102848391A (zh) * 2012-09-20 2013-01-02 北京邮电大学 基于真实力反馈的四通道双边遥操作控制系统

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS54106776A (en) * 1978-02-10 1979-08-22 Fanuc Ltd Positioning device
DE7828226U1 (de) * 1978-09-22 1987-01-02 H.A. Schlatter AG, Schlieren, Zürich Vorrichtung zum Programmieren eines Handhabungsgeräts
US4283764A (en) * 1979-10-12 1981-08-11 Nordson Corporation Manually programmable robot with power-assisted motion during programming
JPS57173486A (en) * 1981-04-15 1982-10-25 Fujitsu Fanuc Ltd Controlling system for robot
JPS57199484A (en) * 1981-06-01 1982-12-07 Okuma Mach Works Ltd Controller for synchronous motor
DE3240251A1 (de) * 1982-10-30 1984-05-03 Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln Verfahren zum programmieren von bewegungen und erforderlichenfalls von bearbeitungskraeften bzw. -momenten eines roboters oder manipulators und einrichtung zu dessen durchfuehrung
EP0108511A3 (en) * 1982-11-04 1985-12-18 EMI Limited Improvements in or relating to robot control systems
US4621332A (en) * 1983-06-20 1986-11-04 Hitachi, Ltd. Method and apparatus for controlling a robot utilizing force, position, velocity, spring constant, mass coefficient, and viscosity coefficient
AU3583084A (en) * 1983-12-10 1985-06-13 Aida Engineering Ltd. Playback grinding robot
JPH0748162B2 (ja) * 1984-03-09 1995-05-24 富士通株式会社 物品処理装置の教示方法
JPH0612490B2 (ja) * 1985-04-22 1994-02-16 日産自動車株式会社 ロボツトの制御装置
JPS61264408A (ja) * 1985-05-20 1986-11-22 Fujitsu Ltd 物体移動装置の教示制御方式
JPS61269712A (ja) * 1985-05-24 1986-11-29 Fujitsu Ltd 自動作業装置の教示制御方法
DE4129152A1 (de) * 1991-09-02 1993-04-08 Fraunhofer Ges Forschung Positioniervorrichtung mit kraftsensor

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102848391A (zh) * 2012-09-20 2013-01-02 北京邮电大学 基于真实力反馈的四通道双边遥操作控制系统

Also Published As

Publication number Publication date
IT1081643B (it) 1985-05-21
JPS5314281A (en) 1978-02-08
FR2360117B1 (OSRAM) 1980-12-19
GB1532927A (en) 1978-11-22
FR2360117A1 (fr) 1978-02-24
DE2728395A1 (de) 1978-02-02

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Legal Events

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