DE3228819C2 - - Google Patents

Info

Publication number
DE3228819C2
DE3228819C2 DE3228819A DE3228819A DE3228819C2 DE 3228819 C2 DE3228819 C2 DE 3228819C2 DE 3228819 A DE3228819 A DE 3228819A DE 3228819 A DE3228819 A DE 3228819A DE 3228819 C2 DE3228819 C2 DE 3228819C2
Authority
DE
Germany
Prior art keywords
detector
control system
circuit
actuator
fixed part
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
DE3228819A
Other languages
German (de)
English (en)
Other versions
DE3228819A1 (de
Inventor
Donald S. Arlington Mass. Us 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
Publication of DE3228819A1 publication Critical patent/DE3228819A1/de
Application granted granted Critical
Publication of DE3228819C2 publication Critical patent/DE3228819C2/de
Granted 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)
DE19823228819 1981-07-31 1982-08-02 Nullagen-suchsystem fuer eine rcc-einrichtung Granted DE3228819A1 (de)

Applications Claiming Priority (1)

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

Publications (2)

Publication Number Publication Date
DE3228819A1 DE3228819A1 (de) 1983-02-24
DE3228819C2 true DE3228819C2 (https=) 1988-07-21

Family

ID=23109496

Family Applications (1)

Application Number Title Priority Date Filing Date
DE19823228819 Granted DE3228819A1 (de) 1981-07-31 1982-08-02 Nullagen-suchsystem fuer eine rcc-einrichtung

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
CA1178359A (en) 1984-11-20
FR2510744A1 (fr) 1983-02-04
GB2102988B (en) 1984-12-12
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

Similar Documents

Publication Publication Date Title
DE3228819C2 (https=)
EP0285961B1 (de) Infrarotdetektor
DE69101386T2 (de) Strommess-Schaltung in einem MOS-Leistungstransistor.
DE3009871C2 (de) Verfahren und Einrichtung zur Drehmomentkontrolle
WO2003046483A1 (de) Anordnung zum erfassen von relativbewegungen oder relativpositionen zweier objekte
DE102007060707B4 (de) Anordnung zur Detektion einer Bewegung eines Körpers sowie Verfahren zum Betrieb einer solchen Anordnung
DE2518054A1 (de) Schaltungsanordnung zur bestimmung der richtung einer linearbewegung oder des drehsinns einer drehbewegung
DE69001657T2 (de) Optische kodierer.
DE112016004941B4 (de) Positionserfassungsvorrichtung und Bewegungsführungsvorrichtung mit der Positionserfassungsvorrichtung
AT410485B (de) Positionsmesseinrichtung
EP0204897B1 (de) Verfahren und Einrichtung zur Regelung des Tastverhältnisses eines elektrischen Signals
DE69006528T2 (de) Spektrophotometer.
DE69028322T2 (de) Positionsdetektor
DE69310651T2 (de) Verfahren zum Feststellen der Nullpunkte von Positionsgebern
DE3229015A1 (de) Kraftermittlungssystem fuer eine fernausrichtzentriervorrichtung
DE69113920T2 (de) Servosignalaufnahmemethode und Gerät dazu.
DE68908635T2 (de) Positionsmessvorrichtung.
DE2458868C3 (de) Anordnung zur Messung des Fokussierungszustandes in optischen Systemen, insbesondere in photographischen Kameras
DE19512258C2 (de) Optischer Codierer mit einem Photodiodenfeld, das sowohl als Lichtdetektor als auch als Indexskala dient
DE3701775A1 (de) Dickenmonitor
DE68916019T2 (de) Verstärkeranordnung und verwendung in einer übertragungsleitungsschaltung.
DE2835712A1 (de) Fuehler zum ausrichten von teilen
DE69601918T2 (de) Druckmaschine mit rotierendem Band und Positioniereinrichtung mit linearem optischen Sensor
DE2502710C3 (de) Einrichtung zum Betrieb eines mehrkanaligen Systems zur Meßwertverarbeitung oder zur Regelung
DE4014479A1 (de) Einrichtung zur ermittlung der bewegungsstrecke zwischen zwei relativbewegungen ausfuehrenden teilen

Legal Events

Date Code Title Description
OP8 Request for examination as to paragraph 44 patent law
D2 Grant after examination
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee