FR2433787A1 - Dispositif de commande automatique d'une position finale - Google Patents

Dispositif de commande automatique d'une position finale

Info

Publication number
FR2433787A1
FR2433787A1 FR7919167A FR7919167A FR2433787A1 FR 2433787 A1 FR2433787 A1 FR 2433787A1 FR 7919167 A FR7919167 A FR 7919167A FR 7919167 A FR7919167 A FR 7919167A FR 2433787 A1 FR2433787 A1 FR 2433787A1
Authority
FR
France
Prior art keywords
control
control means
lifting
final position
automatically controlling
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.)
Granted
Application number
FR7919167A
Other languages
English (en)
Other versions
FR2433787B1 (fr
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.)
Motoda Electronics Co Ltd
Original Assignee
Motoda Electronics Co Ltd
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 Motoda Electronics Co Ltd filed Critical Motoda Electronics Co Ltd
Publication of FR2433787A1 publication Critical patent/FR2433787A1/fr
Application granted granted Critical
Publication of FR2433787B1 publication Critical patent/FR2433787B1/fr
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—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B25J9/009—Programme-controlled manipulators comprising a plurality of manipulators being mechanically linked with one another at their distal ends
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S414/00—Material or article handling
    • Y10S414/13—Handlers utilizing parallel links

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)
  • Lifting Devices For Agricultural Implements (AREA)

Abstract

Un dispositif de commande automatique d'une position finale comprenant un moyen de commande 2 pour un moyen de levage connecté à un bras de commande 3 et un moyen de commande 5 de la position d'un moyen de guidage comportant un moyen de commande d'entraînement Conformément à l'invention le moyen de levage 4 est associé de manière coulissante selon la direction verticale avec le moyen d'entraînement 13 du moyen de commande de position, le moyen de commande de levage 4 supportant le poids et commandant la position selon la direction verticale et le moyen de commande de position 13 étant adapté pour commander le déplacement horizontal de la partie de levage 4 pour assurer la commande de position horizontale. L'invention simplifie la commande d'un tel dispositif.
FR7919167A 1978-07-28 1979-07-25 Dispositif de commande automatique d'une position finale Granted FR2433787A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP53092324A JPS594266B2 (ja) 1978-07-28 1978-07-28 先端制御ロボツト

Publications (2)

Publication Number Publication Date
FR2433787A1 true FR2433787A1 (fr) 1980-03-14
FR2433787B1 FR2433787B1 (fr) 1983-10-21

Family

ID=14051200

Family Applications (1)

Application Number Title Priority Date Filing Date
FR7919167A Granted FR2433787A1 (fr) 1978-07-28 1979-07-25 Dispositif de commande automatique d'une position finale

Country Status (10)

Country Link
US (1) US4260319A (fr)
JP (1) JPS594266B2 (fr)
AU (1) AU4925979A (fr)
CA (1) CA1117459A (fr)
DE (1) DE2930618A1 (fr)
FR (1) FR2433787A1 (fr)
GB (1) GB2026979B (fr)
IT (1) IT1118117B (fr)
PL (1) PL217411A1 (fr)
SE (1) SE7906428L (fr)

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AT379340B (de) * 1979-10-31 1985-12-27 Sticht Walter Einrichtung zur herstellung bzw. handhabung von werkstuecken
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FR2501563B1 (fr) * 1981-03-10 1986-07-18 Sormel Sa Manipulateur automatique
JPS58126090A (ja) * 1982-01-18 1983-07-27 株式会社神戸製鋼所 多関節腕機構
DE3218712C2 (de) * 1982-05-18 1985-05-02 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V., 8000 München Zweiachsiges Handhabungsgerät zum Bewegen von Werkstücken zwischen zwei beliebigen Punkten in einer Ebene
GB2160496B (en) * 1984-06-21 1987-11-04 British Nuclear Fuels Plc Improvements in apparatus for changing jaws on manipulators
US4591128A (en) * 1984-08-02 1986-05-27 Karlichek Gregory J Tool reaction balancing mechanism
JPS61146482A (ja) * 1984-12-20 1986-07-04 工業技術院長 異構造異自由度バイラテラル・マスタスレイブ・マニピユレ−タの制御装置
JPS61284379A (ja) * 1985-06-06 1986-12-15 本田技研工業株式会社 ロボツト装置
US4894901A (en) * 1986-12-22 1990-01-23 The Boeing Company Method for positioning a robotic work system
US4785528A (en) * 1986-12-22 1988-11-22 The Boeing Company Robotic work positioning system
JPH02311285A (ja) * 1989-05-19 1990-12-26 Toyoda Mach Works Ltd 工業用ロボット
JP2798829B2 (ja) * 1991-10-17 1998-09-17 健 柳沢 ２次元運動機構
DE69331789T2 (de) * 1992-01-21 2003-03-13 Stanford Res Inst Int Endoskopisches chirurgisches Instrument
US6788999B2 (en) 1992-01-21 2004-09-07 Sri International, Inc. Surgical system
US6731988B1 (en) 1992-01-21 2004-05-04 Sri International System and method for remote endoscopic surgery
US6963792B1 (en) 1992-01-21 2005-11-08 Sri International Surgical method
US5629594A (en) * 1992-12-02 1997-05-13 Cybernet Systems Corporation Force feedback system
US5389865A (en) * 1992-12-02 1995-02-14 Cybernet Systems Corporation Method and system for providing a tactile virtual reality and manipulator defining an interface device therefor
US6801008B1 (en) * 1992-12-02 2004-10-05 Immersion Corporation Force feedback system and actuator power management
US7345672B2 (en) * 1992-12-02 2008-03-18 Immersion Corporation Force feedback system and actuator power management
EP0699053B1 (fr) * 1993-05-14 1999-03-17 Sri International Appareil chirurgical
US6406472B1 (en) 1993-05-14 2002-06-18 Sri International, Inc. Remote center positioner
US5625576A (en) 1993-10-01 1997-04-29 Massachusetts Institute Of Technology Force reflecting haptic interface
US5649956A (en) * 1995-06-07 1997-07-22 Sri International System and method for releasably holding a surgical instrument
US5814038A (en) 1995-06-07 1998-09-29 Sri International Surgical manipulator for a telerobotic system
US6985133B1 (en) 1998-07-17 2006-01-10 Sensable Technologies, Inc. Force reflecting haptic interface
US6493608B1 (en) * 1999-04-07 2002-12-10 Intuitive Surgical, Inc. Aspects of a control system of a minimally invasive surgical apparatus
AU5466200A (en) 1999-06-04 2000-12-28 Distributed Robotics, Llc Material handling device
US7594912B2 (en) 2004-09-30 2009-09-29 Intuitive Surgical, Inc. Offset remote center manipulator for robotic surgery
US6250484B1 (en) * 2000-06-07 2001-06-26 Mhe Technologies, Inc. Counterweight for monorail hoists
GB0113985D0 (en) * 2001-06-08 2001-08-01 Quin Systems Ltd Robotic devices
US20060178556A1 (en) 2001-06-29 2006-08-10 Intuitive Surgical, Inc. Articulate and swapable endoscope for a surgical robot
US6817974B2 (en) 2001-06-29 2004-11-16 Intuitive Surgical, Inc. Surgical tool having positively positionable tendon-actuated multi-disk wrist joint
JP4486503B2 (ja) 2002-12-06 2010-06-23 イントゥイティブ サージカル， インコーポレイテッド 手術用具のためのフレキシブルリスト
US7411576B2 (en) 2003-10-30 2008-08-12 Sensable Technologies, Inc. Force reflecting haptic interface
DE10351670A1 (de) * 2003-11-05 2005-06-30 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Steuern von Robotern
US9261172B2 (en) 2004-09-30 2016-02-16 Intuitive Surgical Operations, Inc. Multi-ply strap drive trains for surgical robotic arms
US10646292B2 (en) 2004-09-30 2020-05-12 Intuitive Surgical Operations, Inc. Electro-mechanical strap stack in robotic arms
DE102008037169A1 (de) * 2008-08-06 2010-02-11 Jenoptik Automatisierungstechnik Gmbh Vorrichtung zum einseitigen Bearbeiten von Werkstücken mittels Laserstrahlung
US9131807B2 (en) * 2010-06-04 2015-09-15 Shambhu Nath Roy Robotic kitchen top cooking apparatus and method for preparation of dishes using computer recipies
JP6373581B2 (ja) 2010-07-28 2018-08-15 メドロボティクス コーポレイション 外科的位置決め及びサポートシステム
WO2012054829A2 (fr) 2010-10-22 2012-04-26 Medrobotics Corporation Sondes robotisées hautement articulées et procédés de production et d'utilisation de ces sondes
CA2817350A1 (fr) 2010-11-11 2012-06-14 Medrobotics Corporation Dispositifs d'introduction de sondes robotiques tres articulees et procedes de production et d'utilisation de telles sondes
WO2013039999A2 (fr) 2011-09-13 2013-03-21 Medrobotics Corporation Sondes très articulées pourvues d'un dispositif d'articula`tion anti-torsion, ses procédés de fabrication, et procédés de réalisation d'interventions médicales
CA2858831A1 (fr) 2011-12-21 2013-06-27 Robert Anderson Appareil de stabilisation pour sondes tres articulees avec agencement de liaison, methodes de formation de celui-ci et methodes d'utilisation de celui-ci
AU2013299440A1 (en) 2012-08-09 2015-03-05 Medrobotics Corporation Surgical tool positioning systems
US9913695B2 (en) 2013-05-02 2018-03-13 Medrobotics Corporation Robotic system including a cable interface assembly
EP3089696A4 (fr) 2013-12-30 2017-08-30 Medrobotics Corporation Sondes robotiques articulées
CN104440888A (zh) * 2014-12-23 2015-03-25 广西大学 一种六自由度可控机构式移动连杆机构
WO2018067979A1 (fr) * 2016-10-07 2018-04-12 Perky Jerky, Llc Système et procédé de préparation de produits carnés
USD874655S1 (en) 2018-01-05 2020-02-04 Medrobotics Corporation Positioning arm for articulating robotic surgical system
US10994425B1 (en) * 2019-11-25 2021-05-04 Toyota Motor Engineering & Manufacturing North America, Inc. Collaborative robot hand bearing for high-torque tightening applications

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR74850E (fr) * 1959-01-20 1961-03-03 Commissariat Energie Atomique Télémanipulateur à transmission magnétique pour manipulation à l'intérieur d'enceintes étanches
FR2297697A1 (fr) * 1975-01-20 1976-08-13 Bretagne Atel Chantiers Manipulateur programmable en continu
FR2383758A1 (fr) * 1977-03-17 1978-10-13 Motoda Denshi Kogyo Kk Robot destine au transport de charges

Family Cites Families (7)

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Publication number Priority date Publication date Assignee Title
US2822094A (en) * 1953-09-29 1958-02-04 Greer Hydraulics Inc Bridge manipulator
US3352441A (en) * 1964-10-28 1967-11-14 Alden Lars Anders Gustaf Crane boom
DE1279907B (de) * 1965-11-30 1968-10-10 Kernforschung Gmbh Ges Fuer Ferngesteuerter Manipulator
JPS5539520B2 (fr) * 1972-11-14 1980-10-11
JPS5842118B2 (ja) * 1973-07-27 1983-09-17 オオジセイキコウギヨウ カブシキガイシヤ カクダイサレタハンイデヘイコウウンドウスルユアツクレ−ンソウチ
JPS5172049A (ja) * 1974-12-19 1976-06-22 Tokyo Shibaura Electric Co Kogyoyorobotsuto
US4132318A (en) * 1976-12-30 1979-01-02 International Business Machines Corporation Asymmetric six-degree-of-freedom force-transducer system for a computer-controlled manipulator system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR74850E (fr) * 1959-01-20 1961-03-03 Commissariat Energie Atomique Télémanipulateur à transmission magnétique pour manipulation à l'intérieur d'enceintes étanches
FR2297697A1 (fr) * 1975-01-20 1976-08-13 Bretagne Atel Chantiers Manipulateur programmable en continu
FR2383758A1 (fr) * 1977-03-17 1978-10-13 Motoda Denshi Kogyo Kk Robot destine au transport de charges

Also Published As

Publication number Publication date
IT7949873A0 (it) 1979-07-26
GB2026979B (en) 1982-08-25
JPS594266B2 (ja) 1984-01-28
CA1117459A (fr) 1982-02-02
IT1118117B (it) 1986-02-24
AU4925979A (en) 1980-01-31
PL217411A1 (fr) 1980-04-21
GB2026979A (en) 1980-02-13
US4260319A (en) 1981-04-07
SE7906428L (sv) 1980-01-29
JPS5518382A (en) 1980-02-08
FR2433787B1 (fr) 1983-10-21
DE2930618A1 (de) 1980-02-07

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Legal Events

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