GB1561256A - Programmable manipulators - Google Patents

Programmable manipulators Download PDF

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Publication number
GB1561256A
GB1561256A GB44900/76A GB4490076A GB1561256A GB 1561256 A GB1561256 A GB 1561256A GB 44900/76 A GB44900/76 A GB 44900/76A GB 4490076 A GB4490076 A GB 4490076A GB 1561256 A GB1561256 A GB 1561256A
Authority
GB
United Kingdom
Prior art keywords
manipulator
arm
axes
hand
signals
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
GB44900/76A
Other languages
English (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.)
Unimation Inc
Original Assignee
Unimation 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 Unimation Inc filed Critical Unimation Inc
Publication of GB1561256A publication Critical patent/GB1561256A/en
Expired 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • B23P21/002—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units stationary whilst being composed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H9/00—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by endless flexible members
    • F16H9/02—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by endless flexible members without members having orbital motion
    • F16H9/04—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by endless flexible members without members having orbital motion using belts, V-belts, or ropes
    • F16H9/10—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by endless flexible members without members having orbital motion using belts, V-belts, or ropes engaging a pulley provided with radially-actuatable elements carrying the belt
    • 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
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G05B19/21—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device
    • G05B19/25—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for continuous-path control
    • G05B19/251—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for continuous-path control the positional error is used to control continuously the servomotor according to its magnitude
    • G05B19/253—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for continuous-path control the positional error is used to control continuously the servomotor according to its magnitude with speed feedback only
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34236—Multiplex for servos, actuators
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34239—Multiplex for whole system
    • 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
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35238—Gray-code
    • 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
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35543—Cartesian to polar and vice versa
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39002—Move tip of arm on straight line
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39468—Changeable hand, tool, code carrier, detector
    • 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
    • G05B2219/40307—Two, dual arm robot, arm used synchronously, or each separately, asynchronously
    • 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
    • G05B2219/42207—Generate points between start and end position, linear interpolation
    • 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
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43183—Speed control, input is the reference, but no feedback
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45051—Transfer line
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45083—Manipulators, robot
    • 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
    • G05B2219/49395—Repeating same operations for other coordinates

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)
  • Automatic Assembly (AREA)
GB44900/76A 1975-10-28 1976-10-28 Programmable manipulators Expired GB1561256A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US05/625,932 US4163183A (en) 1975-10-28 1975-10-28 Programmable automatic assembly system

Publications (1)

Publication Number Publication Date
GB1561256A true GB1561256A (en) 1980-02-13

Family

ID=24508237

Family Applications (4)

Application Number Title Priority Date Filing Date
GB44900/76A Expired GB1561256A (en) 1975-10-28 1976-10-28 Programmable manipulators
GB14777/79A Expired GB1561258A (en) 1975-10-28 1976-10-28 Programmable manipulators
GB14778/79A Expired GB1561259A (en) 1975-10-28 1976-10-28 Programmable manipulators
GB14779/79A Expired GB1561260A (en) 1975-10-28 1976-10-28 Programmable manipulators

Family Applications After (3)

Application Number Title Priority Date Filing Date
GB14777/79A Expired GB1561258A (en) 1975-10-28 1976-10-28 Programmable manipulators
GB14778/79A Expired GB1561259A (en) 1975-10-28 1976-10-28 Programmable manipulators
GB14779/79A Expired GB1561260A (en) 1975-10-28 1976-10-28 Programmable manipulators

Country Status (8)

Country Link
US (1) US4163183A (enExample)
JP (1) JPS5284669A (enExample)
CA (1) CA1084966A (enExample)
DE (2) DE2660912C2 (enExample)
FR (4) FR2357339A1 (enExample)
GB (4) GB1561256A (enExample)
IT (1) IT1075776B (enExample)
SE (6) SE446071B (enExample)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4468695A (en) * 1980-11-20 1984-08-28 Tokico Ltd. Robot
GB2155212A (en) * 1984-02-29 1985-09-18 Dowty Group Services Apparatus for assembling component parts

Families Citing this family (63)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4086522A (en) * 1976-09-08 1978-04-25 Unimation, Inc. Computer assisted teaching arrangement for conveyor line operation
US4263538A (en) * 1977-05-30 1981-04-21 Societa Di Elettronica Per L'automazione Sepa S.P.A. Control system for an automatic machine
EP0001686B1 (en) * 1977-10-20 1981-11-04 Imperial Chemical Industries Plc An industrial manipulator for placing articles in close proximity to adjacent articles and a method of close packing articles therewith
US4420812A (en) * 1979-09-14 1983-12-13 Tokico, Ltd. Teaching- playback robot
US4385358A (en) * 1979-10-19 1983-05-24 Tokico Ltd. Robot
DE3033202C2 (de) * 1980-09-03 1984-04-19 Siemens AG, 1000 Berlin und 8000 München Verfahren zur Werkzeugbahn-Interpolation
CH645564A5 (de) * 1980-09-05 1984-10-15 Heinz Hossdorf Verfahren und vorrichtung fuer das formen der oberflaeche eines werkstuecks.
CH639584A5 (fr) 1980-10-10 1983-11-30 Microbo Sa Automate susceptible d'apprentissage.
JPS5769314A (en) * 1980-10-13 1982-04-28 Fanuc Ltd Numerical control system
US4379335A (en) * 1980-10-28 1983-04-05 Auto-Place, Inc. Electronic controller and portable programmer system for a pneumatically-powered point-to-point robot
JPS57113114A (en) * 1980-12-30 1982-07-14 Fanuc Ltd Robot control system
JPS584377A (ja) * 1981-03-18 1983-01-11 株式会社安川電機 関節形産業用ロボツトの制御装置
IT1144709B (it) * 1981-05-15 1986-10-29 Dea Spa Sistema di misura dimensionale servito da una pluralita di bracci operativi e controllato da un sistema a calcolatore
US4581893A (en) * 1982-04-19 1986-04-15 Unimation, Inc. Manipulator apparatus with energy efficient control
FR2530173B1 (fr) * 1982-07-14 1987-08-14 Kuka Schweissanlagen & Roboter Procede et montage pour freiner une partie de machine et pour l'arreter
US4558420A (en) * 1982-10-25 1985-12-10 Gerber Scientific Inc. Computer generated mold for contoured garment piece formation
JPS59106007A (ja) * 1982-12-10 1984-06-19 Toyota Central Res & Dev Lab Inc 多関節型ロボツトの軌跡制御装置
JPS59172013A (ja) * 1983-03-22 1984-09-28 Mitsubishi Electric Corp 数値制御装置の刃物台同期方式
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US4557663A (en) * 1984-01-09 1985-12-10 Westinghouse Electric Corp. Modular, low cost, pogrammable assembly system
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US5126948A (en) * 1989-11-08 1992-06-30 Ltv Aerospace And Defense Company Digital position encoder and data optimizer
DE4290927C2 (de) * 1991-04-01 2000-04-27 Fanuc Robotics North America Anlage zur flexiblen Positionierung von Bauteilen in einer Montagestation und Anlage zur flexiblen Montage von Bauteilen
JPH0553634A (ja) * 1991-08-29 1993-03-05 Matsushita Electric Ind Co Ltd 複腕干渉回避システム
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US5475797A (en) * 1993-10-22 1995-12-12 Xerox Corporation Menu driven system for controlling automated assembly of palletized elements
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US6612143B1 (en) 2001-04-13 2003-09-02 Orametrix, Inc. Robot and method for bending orthodontic archwires and other medical devices
DE10148519A1 (de) * 2001-10-01 2003-04-24 Siemens Ag Programmierverfahren zur Erstellung eines Steuerungsprogramms einer industriellen Maschine
DE10258633A1 (de) * 2002-12-16 2004-07-08 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Positionieren von zusammenzufügenden Bauteilen
US20080172857A1 (en) * 2007-01-05 2008-07-24 Tennessee Rand Automation Systems and Methods for Manipulating a Frame in a Manufacturing Process
JP5507587B2 (ja) * 2012-01-11 2014-05-28 ファナック株式会社 補助指令の実行機能を有する数値制御装置
US9517895B2 (en) * 2013-10-30 2016-12-13 GM Global Technology Operations LLC Vehicle frame turnover system and method
US9804593B1 (en) * 2014-12-12 2017-10-31 X Development Llc Methods and systems for teaching positions to components of devices
CN107114012B (zh) * 2014-12-22 2020-04-14 株式会社富士 对基板作业管理装置
US11944452B2 (en) 2017-03-10 2024-04-02 University Of Washington Methods and systems to measure and evaluate stability of medical implants
US11625023B2 (en) * 2017-09-29 2023-04-11 Donald Scott Rogers Device and method for automated assembly of interlocking segments
JP7118628B2 (ja) * 2017-12-01 2022-08-16 キヤノン株式会社 ロボット装置、およびロボット装置の制御方法
WO2019139815A1 (en) 2018-01-12 2019-07-18 Duke University Apparatus, method and article to facilitate motion planning of an autonomous vehicle in an environment having dynamic objects
TWI822729B (zh) 2018-02-06 2023-11-21 美商即時機器人股份有限公司 用於儲存一離散環境於一或多個處理器之一機器人之運動規劃及其改良操作之方法及設備
DE102018105041B4 (de) * 2018-03-06 2025-08-14 Dürr Systems Ag Schwenkeinheit für einen Handhabungsroboter und zugehöriges Verfahren
WO2019183141A1 (en) * 2018-03-21 2019-09-26 Realtime Robotics, Inc. Motion planning of a robot for various environments and tasks and improved operation of same
CN108188736B (zh) * 2018-03-23 2023-08-15 浙江亿宝科技有限公司 一种换向器自动装配机
EP3820656A4 (en) 2018-08-23 2021-08-25 Realtime Robotics, Inc. COLLISION DETECTION FOR MOTION PLANNING OF ROBOTS
JP7394853B2 (ja) 2018-12-04 2023-12-08 デューク・ユニバーシティ 動的物体を有する環境における運動計画を促進する装置、方法及び物品
JP7309371B2 (ja) 2019-01-25 2023-07-18 株式会社ソニー・インタラクティブエンタテインメント ロボット制御システム
JP7190919B2 (ja) 2019-01-25 2022-12-16 株式会社ソニー・インタラクティブエンタテインメント 画像解析システム
JP7417356B2 (ja) * 2019-01-25 2024-01-18 株式会社ソニー・インタラクティブエンタテインメント ロボット制御システム
CN113905855B (zh) 2019-04-17 2023-08-25 实时机器人有限公司 运动规划图生成用户界面、系统、方法和规则
TWI873149B (zh) 2019-06-24 2025-02-21 美商即時機器人股份有限公司 用於多個機械手臂於共用工作空間中之移動規劃系統及方法
US11958183B2 (en) 2019-09-19 2024-04-16 The Research Foundation For The State University Of New York Negotiation-based human-robot collaboration via augmented reality
JP2023518071A (ja) 2020-03-18 2023-04-27 リアルタイム ロボティクス， インコーポレーテッド ロボットの動作計画に有用なロボット操作環境のデジタル表現
EP4126474A1 (en) * 2020-03-27 2023-02-08 ABB Schweiz AG Method and system for programming a robot
CN112093471B (zh) * 2020-07-29 2022-03-04 强信机械科技(莱州)有限公司 一种切拼下摆机的机械手
CN113771045B (zh) * 2021-10-15 2022-04-01 广东工业大学 视觉引导的直角机器人手机中框高适应定位抓取方法
TWI864588B (zh) * 2022-02-14 2024-12-01 美商靈巧公司 裝載與卸載卡車及其他集裝箱之機器人系統、控制一機器人系統之方法、及控制一機器人系統之電腦程式產品
CN117850309B (zh) * 2023-12-29 2025-03-14 四川红华实业有限公司 一种用于工厂自动化的步数计算方法

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4468695A (en) * 1980-11-20 1984-08-28 Tokico Ltd. Robot
GB2155212A (en) * 1984-02-29 1985-09-18 Dowty Group Services Apparatus for assembling component parts

Also Published As

Publication number Publication date
US4163183A (en) 1979-07-31
SE7611920L (sv) 1977-04-29
FR2361207B1 (fr) 1985-08-23
SE446071B (sv) 1986-08-11
GB1561260A (en) 1980-02-13
SE8305519L (sv) 1983-10-07
FR2361206B1 (enExample) 1984-07-20
SE8305518L (sv) 1983-10-07
JPS5284669A (en) 1977-07-14
SE8305521D0 (sv) 1983-10-07
SE8305518D0 (sv) 1983-10-07
SE8305517D0 (sv) 1983-10-07
SE8305521L (sv) 1983-10-07
FR2357339A1 (fr) 1978-02-03
FR2357339B1 (enExample) 1984-10-19
GB1561258A (en) 1980-02-13
FR2361206A1 (fr) 1978-03-10
FR2361205A1 (fr) 1978-03-10
GB1561259A (en) 1980-02-13
SE8305520D0 (enExample) 1983-10-07
SE8305519D0 (sv) 1983-10-07
FR2361207A1 (fr) 1978-03-10
CA1084966A (en) 1980-09-02
DE2660912C2 (de) 1986-07-17
DE2649123C2 (de) 1986-07-24
SE8305520L (sv) 1983-10-07
IT1075776B (it) 1985-04-22
SE8305517L (sv) 1983-10-07
DE2649123A1 (de) 1977-05-12

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