CA1178359A - Null seeking system for remote center compliance device - Google Patents

Null seeking system for remote center compliance device

Info

Publication number
CA1178359A
CA1178359A CA000408512A CA408512A CA1178359A CA 1178359 A CA1178359 A CA 1178359A CA 000408512 A CA000408512 A CA 000408512A CA 408512 A CA408512 A CA 408512A CA 1178359 A CA1178359 A CA 1178359A
Authority
CA
Canada
Prior art keywords
control system
null
seeking control
detector
null seeking
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
CA000408512A
Other languages
English (en)
French (fr)
Inventor
Donald S. Seltzer
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.)
Charles Stark Draper Laboratory Inc
Original Assignee
Charles Stark Draper Laboratory Inc
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 Charles Stark Draper Laboratory Inc filed Critical Charles Stark Draper Laboratory Inc
Application granted granted Critical
Publication of CA1178359A publication Critical patent/CA1178359A/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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q35/00—Control systems or devices for copying directly from a pattern or a master model; Devices for use in copying manually
    • B23Q35/04—Control systems or devices for copying directly from a pattern or a master model; Devices for use in copying manually using a feeler or the like travelling along the outline of the pattern, model or drawing; Feelers, patterns, or models therefor
    • B23Q35/08—Means for transforming movement of the feeler or the like into feed movement of tool or work
    • B23Q35/22—Means for transforming movement of the feeler or the like into feed movement of tool or work specially adapted for compensating for wear of the tool
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40087—Align hand on workpiece to pick up workpiece, peg and hole
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49113—Align elements like hole and drill, centering tool, probe, workpiece

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)
  • Numerical Control (AREA)
  • Details Of Connecting Devices For Male And Female Coupling (AREA)
  • General Factory Administration (AREA)
CA000408512A 1981-07-31 1982-07-30 Null seeking system for remote center compliance device Expired CA1178359A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US06/288,981 US4409736A (en) 1981-07-31 1981-07-31 Null seeking system for remote center compliance device
US288,981 1981-07-31

Publications (1)

Publication Number Publication Date
CA1178359A true CA1178359A (en) 1984-11-20

Family

ID=23109496

Family Applications (1)

Application Number Title Priority Date Filing Date
CA000408512A Expired CA1178359A (en) 1981-07-31 1982-07-30 Null seeking system for remote center compliance device

Country Status (8)

Country Link
US (1) US4409736A (https=)
JP (1) JPS5859791A (https=)
CA (1) CA1178359A (https=)
DE (1) DE3228819A1 (https=)
FR (1) FR2510744B1 (https=)
GB (1) GB2102988B (https=)
IT (1) IT1153147B (https=)
SE (1) SE456947B (https=)

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BE787492A (fr) * 1971-08-13 1973-02-12 Greenberg Sanford D Ligne a retard variable pour la commande d'emissions de sons
US4562391A (en) * 1983-06-08 1985-12-31 Inoue-Japax Research Incorporated Robotic positioning system
JPS60131191A (ja) * 1983-12-19 1985-07-12 オムロン株式会社 外力検出装置
US4884329A (en) * 1987-02-20 1989-12-05 Research Development Corporation Precision automatic assembly apparatus, with electromagnetically supported member and assembly method using same
US4745681A (en) * 1987-04-22 1988-05-24 International Business Machines Corporation Controlled pin insertion using airflow sensing and active feedback
US5565242A (en) * 1992-09-21 1996-10-15 The Boeing Company Lubricant applications to a hole
DE4409530C2 (de) * 1993-03-19 1999-05-20 Basys Ges Fuer Anwender Und Sy Berührungslos arbeitende Meßeinrichtung und deren Verwendung zur Bestimmung des zweideimensional definierten Ortes eines Meßkörpers
US5777562A (en) * 1996-08-19 1998-07-07 Hoffman; David J. Centering device and method for centering
US5848859A (en) * 1997-01-08 1998-12-15 The Boeing Company Self normalizing drill head
US7371041B2 (en) * 2001-08-30 2008-05-13 Seagate Technology Llc Assembly station with rotatable turret which forms and unloads a completed stack of articles
US6877215B2 (en) * 2001-08-30 2005-04-12 Seagate Technology Llc Compliance mechanism for manipulating a control object
DE10158775B4 (de) * 2001-11-30 2004-05-06 3Dconnexion Gmbh Anordnung zum Erfassen von Relativbewegungen oder Relativpositionen zweier Objekte
DE10158776B4 (de) * 2001-11-30 2004-05-13 3Dconnexion Gmbh Anordnung zum Erfassen von Relativbewegungen oder Relativpositionen zweier Objekte
DE10158777B4 (de) * 2001-11-30 2004-05-06 3Dconnexion Gmbh Anordnung zum Erfassen von Relativbewegungen oder Relativpositionen zweier Objekte
EP1472579B1 (en) * 2002-02-06 2013-05-01 The Johns Hopkins University Remote center of motion robotic system
WO2003070120A1 (en) * 2002-02-15 2003-08-28 The John Hopkins University System and method for laser based computed tomography and magnetic resonance registration
AU2003247338A1 (en) * 2002-04-25 2003-11-10 The John Hopkins University Robot for computed tomography interventions

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1551217A (en) * 1975-05-13 1979-08-22 Renishaw Electrical Ltd Displacement measuring apparatus
US4038756A (en) * 1975-08-21 1977-08-02 The Valeron Corporation Electronic column gage
US4098001A (en) * 1976-10-13 1978-07-04 The Charles Stark Draper Laboratory, Inc. Remote center compliance system
SE406228B (sv) * 1977-09-20 1979-01-29 Johansson Ab C E Legesgivare avsedd for kontrollmetning av ytor
US4155169A (en) * 1978-03-16 1979-05-22 The Charles Stark Draper Laboratory, Inc. Compliant assembly system device
US4283153A (en) * 1978-12-21 1981-08-11 Cincinnati Milacron Inc. Compliant apparatus with remote smeared centers
NL7901956A (nl) * 1979-03-12 1980-09-16 Leuven Res & Dev Vzw Verplaatsingsbesturingsinrichting.
US4316329A (en) * 1979-09-19 1982-02-23 The Charles Stark Draper Laboratory Instrumented remote center compliance device
GB2080522B (en) * 1979-09-19 1983-10-12 Draper Lab Charles S Improved instrumented remote centre compliance device
US4337579A (en) * 1980-04-16 1982-07-06 The Charles Stark Draper Laboratory, Inc. Deformable remote center compliance device

Also Published As

Publication number Publication date
SE456947B (sv) 1988-11-14
US4409736A (en) 1983-10-18
SE8204547D0 (sv) 1982-08-02
IT8222676A0 (it) 1982-07-30
DE3228819A1 (de) 1983-02-24
FR2510744A1 (fr) 1983-02-04
GB2102988B (en) 1984-12-12
DE3228819C2 (https=) 1988-07-21
SE8204547L (sv) 1983-02-01
IT8222676A1 (it) 1984-01-30
JPS5859791A (ja) 1983-04-08
IT1153147B (it) 1987-01-14
GB2102988A (en) 1983-02-09
FR2510744B1 (fr) 1985-12-06

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Legal Events

Date Code Title Description
MKEC Expiry (correction)
MKEX Expiry