JPH01153292A - Overrun detecting device for flexible arm robot - Google Patents

Overrun detecting device for flexible arm robot

Info

Publication number
JPH01153292A
JPH01153292A JP62310808A JP31080887A JPH01153292A JP H01153292 A JPH01153292 A JP H01153292A JP 62310808 A JP62310808 A JP 62310808A JP 31080887 A JP31080887 A JP 31080887A JP H01153292 A JPH01153292 A JP H01153292A
Authority
JP
Japan
Prior art keywords
flexible arm
stroke
detecting
oscillating direction
detecting means
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.)
Pending
Application number
JP62310808A
Inventor
Takashi Shirae
Original Assignee
Komatsu 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 Komatsu Ltd filed Critical Komatsu Ltd
Priority to JP62310808A priority Critical patent/JPH01153292A/en
Publication of JPH01153292A publication Critical patent/JPH01153292A/en
Application status is Pending legal-status Critical

Links

Abstract

PURPOSE: To enable the second flexible arm to oscillate without interfering with obstruction in response to the position of the first flexible arm by providing a means for outputting an overrun detecting signal when the oscillating direction and a stroke of the second flexible arm become set values, based on the oscillating direction and a stroke of the first flexible arm. CONSTITUTION: Linear potentiometers (the first detecting means) 101 to 104 for detecting the oscillating direction and a stroke of the first flexible arm A1 are provided, and linear potentiometers 105 to 108 (the second detecting means) for detecting the oscillating direction and a stroke of the second flexible arm A2 are provided. Based on the detected signals of the first detecting means (101 to 104 ), when the oscillating direction and the stroke of the second flexible arm become set values, the second detecting means (105 to 108 ) outputs an overrun detecting signal from a control circuit to regulate the movable range of the second flexible arm A2 . As a result, when a flexible arm robot is installed adjacent to an obstruction, the second flexible arm A2 can oscillate at a position which does not interfere with the obstruction, in response to the position of the first flexible arm A1 .
JP62310808A 1987-12-10 1987-12-10 Overrun detecting device for flexible arm robot Pending JPH01153292A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP62310808A JPH01153292A (en) 1987-12-10 1987-12-10 Overrun detecting device for flexible arm robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP62310808A JPH01153292A (en) 1987-12-10 1987-12-10 Overrun detecting device for flexible arm robot

Publications (1)

Publication Number Publication Date
JPH01153292A true JPH01153292A (en) 1989-06-15

Family

ID=18009671

Family Applications (1)

Application Number Title Priority Date Filing Date
JP62310808A Pending JPH01153292A (en) 1987-12-10 1987-12-10 Overrun detecting device for flexible arm robot

Country Status (1)

Country Link
JP (1) JPH01153292A (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006136827A1 (en) * 2005-06-21 2006-12-28 Oliver Crispin Robotics Limited Robotic arm comprising a plurality of articulated elements and means for determining the shape of the arm
US8827894B2 (en) 2000-04-03 2014-09-09 Intuitive Surgical Operations, Inc. Steerable endoscope and improved method of insertion
US8888688B2 (en) 2000-04-03 2014-11-18 Intuitive Surgical Operations, Inc. Connector device for a controllable instrument
CN105690378A (en) * 2016-03-22 2016-06-22 中国民航大学 Compact multi-joint-section snake arm driving mechanism easy to expand
US9427282B2 (en) 2000-04-03 2016-08-30 Intuitive Surgical Operations, Inc. Apparatus and methods for facilitating treatment of tissue via improved delivery of energy based and non-energy based modalities
US9808140B2 (en) 2000-04-03 2017-11-07 Intuitive Surgical Operations, Inc. Steerable segmented endoscope and method of insertion

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9427282B2 (en) 2000-04-03 2016-08-30 Intuitive Surgical Operations, Inc. Apparatus and methods for facilitating treatment of tissue via improved delivery of energy based and non-energy based modalities
US9808140B2 (en) 2000-04-03 2017-11-07 Intuitive Surgical Operations, Inc. Steerable segmented endoscope and method of insertion
US8827894B2 (en) 2000-04-03 2014-09-09 Intuitive Surgical Operations, Inc. Steerable endoscope and improved method of insertion
US8834354B2 (en) 2000-04-03 2014-09-16 Intuitive Surgical Operations, Inc. Steerable endoscope and improved method of insertion
US8888688B2 (en) 2000-04-03 2014-11-18 Intuitive Surgical Operations, Inc. Connector device for a controllable instrument
US10105036B2 (en) 2000-04-03 2018-10-23 Intuitive Surgical Operations, Inc. Connector device for a controllable instrument
WO2006136827A1 (en) * 2005-06-21 2006-12-28 Oliver Crispin Robotics Limited Robotic arm comprising a plurality of articulated elements and means for determining the shape of the arm
US8126591B2 (en) 2005-06-21 2012-02-28 Oliver Crispin Robotics Limited Robotic arms
CN105690378A (en) * 2016-03-22 2016-06-22 中国民航大学 Compact multi-joint-section snake arm driving mechanism easy to expand

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