JP7063560B2 - 適応型のロボット式エンドエフェクタのための方法及び装置 - Google Patents

適応型のロボット式エンドエフェクタのための方法及び装置 Download PDF

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Publication number
JP7063560B2
JP7063560B2 JP2017169203A JP2017169203A JP7063560B2 JP 7063560 B2 JP7063560 B2 JP 7063560B2 JP 2017169203 A JP2017169203 A JP 2017169203A JP 2017169203 A JP2017169203 A JP 2017169203A JP 7063560 B2 JP7063560 B2 JP 7063560B2
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end effector
workpiece
feature
contact
adaptive
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JP2018109600A (ja
JP2018109600A5 (https=
Inventor
ジェームズ ジェイ． トロイ，
ダニエル ジェイ． ライト，
スコット ダブリュ． レア，
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Boeing Co
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Boeing Co
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    • 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • 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
    • B25J17/0208—Compliance devices
    • 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
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • 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
    • B25J17/0208—Compliance devices
    • B25J17/0233—Compliance devices with radial compliance, i.e. perpendicular to the longitudinal wrist axis
    • 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
    • B25J17/0258—Two-dimensional joints
    • B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
    • 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
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1669—Program controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B3/00—Measuring instruments characterised by the use of mechanical techniques
    • G01B3/20—Slide gauges
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B3/00—Measuring instruments characterised by the use of mechanical techniques
    • G01B3/22—Feeler-pin gauges, e.g. dial gauges
    • G01B3/28—Depth gauges
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/02—Measuring arrangements characterised by the use of mechanical techniques for measuring length, width or thickness
    • G01B5/06—Measuring arrangements characterised by the use of mechanical techniques for measuring length, width or thickness for measuring thickness

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • A Measuring Device Byusing Mechanical Method (AREA)
  • Automatic Assembly (AREA)
  • Numerical Control (AREA)
JP2017169203A 2016-10-16 2017-09-04 適応型のロボット式エンドエフェクタのための方法及び装置 Active JP7063560B2 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US15/294,757 2016-10-16
US15/294,757 US10286556B2 (en) 2016-10-16 2016-10-16 Method and apparatus for compliant robotic end-effector

Publications (3)

Publication Number Publication Date
JP2018109600A JP2018109600A (ja) 2018-07-12
JP2018109600A5 JP2018109600A5 (https=) 2020-10-15
JP7063560B2 true JP7063560B2 (ja) 2022-05-09

Family

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Family Applications (1)

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JP2017169203A Active JP7063560B2 (ja) 2016-10-16 2017-09-04 適応型のロボット式エンドエフェクタのための方法及び装置

Country Status (5)

Country Link
US (1) US10286556B2 (https=)
EP (1) EP3318372B1 (https=)
JP (1) JP7063560B2 (https=)
CN (1) CN107953352B (https=)
RU (1) RU2746931C2 (https=)

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Also Published As

Publication number Publication date
EP3318372B1 (en) 2024-01-24
CN107953352B (zh) 2022-06-10
US20180104820A1 (en) 2018-04-19
EP3318372A2 (en) 2018-05-09
JP2018109600A (ja) 2018-07-12
RU2017126881A (ru) 2019-01-28
RU2746931C2 (ru) 2021-04-22
CN107953352A (zh) 2018-04-24
US10286556B2 (en) 2019-05-14
RU2017126881A3 (https=) 2020-10-22
EP3318372A3 (en) 2019-03-13

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