IT1153147B - Apparecchiatura di controllo a ricerca di zero per dispositivi a centro lontano con possibilita' di aggiustamento in robot industriali e simili - Google Patents

Apparecchiatura di controllo a ricerca di zero per dispositivi a centro lontano con possibilita' di aggiustamento in robot industriali e simili

Info

Publication number
IT1153147B
IT1153147B IT22676/82A IT2267682A IT1153147B IT 1153147 B IT1153147 B IT 1153147B IT 22676/82 A IT22676/82 A IT 22676/82A IT 2267682 A IT2267682 A IT 2267682A IT 1153147 B IT1153147 B IT 1153147B
Authority
IT
Italy
Prior art keywords
industrial
possibility
zero
far
adjustment
Prior art date
Application number
IT22676/82A
Other languages
English (en)
Italian (it)
Other versions
IT8222676A0 (it
IT8222676A1 (it
Inventor
Donald S Seltzer
Original Assignee
Draper Lab Charles S
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 Draper Lab Charles S filed Critical Draper Lab Charles S
Publication of IT8222676A0 publication Critical patent/IT8222676A0/it
Publication of IT8222676A1 publication Critical patent/IT8222676A1/it
Application granted granted Critical
Publication of IT1153147B publication Critical patent/IT1153147B/it

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)
IT22676/82A 1981-07-31 1982-07-30 Apparecchiatura di controllo a ricerca di zero per dispositivi a centro lontano con possibilita' di aggiustamento in robot industriali e simili IT1153147B (it)

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 (3)

Publication Number Publication Date
IT8222676A0 IT8222676A0 (it) 1982-07-30
IT8222676A1 IT8222676A1 (it) 1984-01-30
IT1153147B true IT1153147B (it) 1987-01-14

Family

ID=23109496

Family Applications (1)

Application Number Title Priority Date Filing Date
IT22676/82A IT1153147B (it) 1981-07-31 1982-07-30 Apparecchiatura di controllo a ricerca di zero per dispositivi a centro lontano con possibilita' di aggiustamento in robot industriali e simili

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
DE3228819C2 (https=) 1988-07-21
SE8204547L (sv) 1983-02-01
IT8222676A1 (it) 1984-01-30
JPS5859791A (ja) 1983-04-08
GB2102988A (en) 1983-02-09
FR2510744B1 (fr) 1985-12-06

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