FR2638232B1 - TOUCH SENSOR - Google Patents

TOUCH SENSOR

Info

Publication number
FR2638232B1
FR2638232B1 FR8913689A FR8913689A FR2638232B1 FR 2638232 B1 FR2638232 B1 FR 2638232B1 FR 8913689 A FR8913689 A FR 8913689A FR 8913689 A FR8913689 A FR 8913689A FR 2638232 B1 FR2638232 B1 FR 2638232B1
Authority
FR
France
Prior art keywords
touch sensor
touch
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 - Fee Related
Application number
FR8913689A
Other languages
French (fr)
Other versions
FR2638232A1 (en
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Publication of FR2638232A1 publication Critical patent/FR2638232A1/en
Application granted granted Critical
Publication of FR2638232B1 publication Critical patent/FR2638232B1/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
    • G01L5/166—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using photoelectric means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
    • G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping
FR8913689A 1988-10-21 1989-10-19 TOUCH SENSOR Expired - Fee Related FR2638232B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19883836003 DE3836003A1 (en) 1988-10-21 1988-10-21 Method and device for carrying out a force-controlled movement

Publications (2)

Publication Number Publication Date
FR2638232A1 FR2638232A1 (en) 1990-04-27
FR2638232B1 true FR2638232B1 (en) 1994-09-30

Family

ID=6365681

Family Applications (1)

Application Number Title Priority Date Filing Date
FR8913689A Expired - Fee Related FR2638232B1 (en) 1988-10-21 1989-10-19 TOUCH SENSOR

Country Status (2)

Country Link
DE (1) DE3836003A1 (en)
FR (1) FR2638232B1 (en)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0444657B1 (en) * 1990-02-27 1996-02-07 Kabushiki Kaisha Toshiba Control robot
DE4126032C2 (en) * 1991-08-06 1994-04-21 Wolfgang Ziegler Machining device that can be driven by a motor, in particular a grinding or milling device suitable for a robot with a sensory force and / or torque detection
DE19642016C1 (en) * 1996-10-11 1998-05-28 Siemens Ag Method for mechanically moving an object on a level to a target position
DE19943318A1 (en) * 1999-09-10 2001-03-22 Charalambos Tassakos Trajectory path point position detection method e.g. for programming industrial robot, uses manual movement of robot tool along trajectory with force/moment sensor signals converted into movement control signals
DE19962974A1 (en) * 1999-12-24 2001-06-28 Bielomatik Leuze & Co Device and method for heating element welding
DE10137955B4 (en) * 2001-08-07 2007-02-22 Deutsches Zentrum für Luft- und Raumfahrt e.V. Method for motion commanding a service robot
DE10305755A1 (en) * 2003-02-11 2004-09-16 Bartsch Gmbh Two-dimensional workpiece grabbing technique involves using aligned gripper to grab workpiece freely, in which torque in rotation and translatory movement of gripper and grabbed workpiece are zero
EP1987406B1 (en) * 2006-02-23 2010-08-04 Abb Ab A system for controlling the position and orientation of an object in dependence on received forces and torques from a user
EP2561850B1 (en) * 2011-08-22 2014-07-02 Hartmut J. Schneider Device for sexual stimulation
CN106903670B (en) * 2017-03-10 2019-07-16 南京航空航天大学 Teaching apparatus, robot control device and control method
EP3713721B1 (en) * 2017-11-22 2022-06-29 KOC Universitesi Monolithic flexure based, triaxial dynamometer using photointerrupters

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6128835A (en) * 1984-07-20 1986-02-08 Nippon Telegr & Teleph Corp <Ntt> Multiple component forces detector
US4704909A (en) * 1985-07-22 1987-11-10 Grahn Allen R Multicomponent force-torque sensor
JPH0676931B2 (en) * 1986-01-13 1994-09-28 工業技術院長 Tactile sensor

Also Published As

Publication number Publication date
FR2638232A1 (en) 1990-04-27
DE3836003A1 (en) 1990-04-26
DE3836003C2 (en) 1992-04-16

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Legal Events

Date Code Title Description
ST Notification of lapse