USRE31581E - Apparatus for detecting forces directing the movement of a manipulating instrument - Google Patents

Apparatus for detecting forces directing the movement of a manipulating instrument Download PDF

Info

Publication number
USRE31581E
USRE31581E US06/405,779 US40577982A USRE31581E US RE31581 E USRE31581 E US RE31581E US 40577982 A US40577982 A US 40577982A US RE31581 E USRE31581 E US RE31581E
Authority
US
United States
Prior art keywords
center part
transducer means
data transducer
pair
axis
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 - Lifetime
Application number
US06/405,779
Other languages
English (en)
Inventor
Hans Richter
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.)
BLOMBERG ROBOTERTECHNIK VOLTASTRASSE 50 D-4730 AHLEN WEST GERMANY GmbH
Original Assignee
GESELLSCHAFT fur DIGITALE AUTOMATION MBH
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 GESELLSCHAFT fur DIGITALE AUTOMATION MBH filed Critical GESELLSCHAFT fur DIGITALE AUTOMATION MBH
Assigned to GESELLSCHAFT FUR DIGITALE AUTOMATION MBH reassignment GESELLSCHAFT FUR DIGITALE AUTOMATION MBH ASSIGNMENT OF ASSIGNORS INTEREST. Assignors: RICHTER, HANS
Application granted granted Critical
Publication of USRE31581E publication Critical patent/USRE31581E/en
Assigned to RICHTER, HANS reassignment RICHTER, HANS ASSIGNMENT OF ASSIGNORS INTEREST. Assignors: GESELLSCHAFT FUR DIGITALE AUTOMATION MBH
Assigned to BLOMBERG ROBOTERTECHNIK GMBH, VOLTASTRASSE 50, D-4730 AHLEN, WEST GERMANY reassignment BLOMBERG ROBOTERTECHNIK GMBH, VOLTASTRASSE 50, D-4730 AHLEN, WEST GERMANY ASSIGNMENT OF ASSIGNORS INTEREST. Assignors: RICHTER, HANS
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

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
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0081—Programme-controlled manipulators with master teach-in means
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37357—Force, pressure, weight or deflection
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H2239/00—Miscellaneous
    • H01H2239/052—Strain gauge

Definitions

  • the present invention generally relates to a motor-driven manipulating instrument adaptable for being programmed to repeatedly execute a predetermined series of spatial movements.
  • the present invention is directed to a novel apparatus for generating a series of signals indicative of the specific movements of the instrument, which signals are adaptable for establishing a control program to control the drive motors and hence the movement of the instrument itself.
  • a manipulating robot instrument usually includes a control arm assembly formed from a plurality of attached members, with a hand attached to an end of the arm assembly for performing predetermined manipulations.
  • the hand may be employed in precision welding of two auto body parts to one another, thereby freeing a human operator from performing the repetitive and often boring task.
  • the robot hand in order to perform such work tasks, the robot hand must be able to precisely and repeatedly follow a predetermined spatial track.
  • One such known rotor assembly includes a composite arm assembly which can perform linear movement along two mutually perpendicular axes as well as rotation about one of the axes.
  • the arm assembly is capable of executing a swiveling movement by combining the linear and rotative movements discussed hereabove.
  • a hand member attached to such a known robot arm assembly can be rotated about an axis extending in the axial direction of the arm assembly as well as being rotatable about separate axes extending perpendicularly to each of the mutually perpendicular axes, respectively.
  • a plurality of separate drive motors are arranged for driving the various component members of the arm assembly as well as the attached hand member.
  • a control program is required for actuating the various drive motors in a predetermined sequence.
  • the desired track is usually divided into a series of linear sections, allowing the track curve to be approximated by straight-line linear movements which can be mathematically programmed.
  • mathematically originated programs are very complex and costly and, more importantly, can only roughly approximate the desired track.
  • a further known robot arm assembly suggests that an elaborate template assembly surround the composite robot arm and hand assembly.
  • the template assembly is formed from a plurality of seperate members which are positioned to follow the precise movements of the aggregate robot arm assembly.
  • the template assembly carries a plurality of switches which are selectively activated upon contact with the various components of the rotor arm assembly. When activated, the switches close an electrical circuit which provides a signal indicative of a specific robot arm movement; with the signals being used to establish a control program for actuating the robot arm drive motors.
  • the present invention provides an apparatus capable of precisely following the manual manipulations of a robot arm assembly and of generating a signal corresponding to such manipulations, which signal is adaptable for establishing a control program to control the robot arm drive motors for repeatedly manipulating the arm assembly.
  • An object of the present invention is to provide a programming device capable of accurately detecting manually actuated movements of a robot arm assembly and generating electrical control signals indicative of such movements, which signals are adaptable for establishing a control program for operating drive motors to accurately repeat the manually actuated movements.
  • a further object of the present invention is to provide a programming device in the form of a handle having a rigid center portion attached to the robot arm assembly and an outer sleeve attached to the center portion via a plurality of separate flexible blade portions, with separate force detecting transducers mounted on each of the respective blade portions.
  • a yet further object of the present invention is to provide a programming device capable of generating an electrical signal in response to linear and/or rotative manipulation of the composite robot arm assembly.
  • a handle-shaped device includes a center portion rigidly attached to a motor drive rotor arm assembly.
  • the handle-shaped device further includes a sleeve-shaped member surrounding and connected to the center portion via a plurality of separate blade portions, wherein a first plurality of blade portions extend parallel to a longitudinal axis of the handle-shaped device and a second plurality of blade portions extend along the contour of the device and transversely to the longitudinal axis.
  • a force transducer in the form of a wire strip is mounted on each blade portion.
  • FIG. 1 shows a schematic representation of a manipulating instrument including a programming apparatus formed in accordance with the present invention
  • FIG. 2 shows a partial longitudinal cross-section of the programming device formed in accordance with the embodiment shown in FIG. 1;
  • FIG. 3 shows a sectional view taken along a section line C-D in FIG. 2;
  • FIG. 4 shows a sectional view taken along section line A-B in FIG. 2;
  • FIG. 5 shows a partial longitudinal cross-section of an alternate programming device.
  • FIGS. 1-4 The preferred embodiment of the present invention will now be described with reference to FIGS. 1-4, respectively. Movements will be described with reference to Cartesian co-ordinates designated by the mutually perpendicular axes X, Y and Z. In addition, rotary movements about the X and Y axes will also be discussed hereafter. While a Cartesian co-ordinate system has been employed for describing the present invention, it is evident that the present invention need not be limited to the Cartesian coordinate system but could be described with reference to Polar co-ordinates or the like.
  • Robot 22 includes a composite arm assembly 26 and a composite hand assembly 27 attached to an end portion of arm assembly 26.
  • the movements of arm assembly 26 can be divided into separate linear components extending in the directions of the axes X', Y' and Z' as best shown in FIG. 1, wherein axis X' extends parallel to the longitudinal axis through arm assembly 26.
  • arm assembly 26 can achieve rotary motion about the Y axis as designated by the arrow dy'.
  • Hand assembly 27 includes a first member 27a which can perform rotary movement about the X' axis as denoted by the arrow dx' 1 in FIG. 1.
  • Hand assembly 27 includes a second member 27b capable of performing rotary movement about the Z' axis, as denoted by the arrow dz'. Finally, hand assembly 27 includes a third member 27c which can perform rotary movement about an axis extending parallel to the X' axis, with this rotary movement being denoted by the arrow dx' 2 .
  • Each of the hand assembly members 27a-c as well as robot arm assembly 26 is individually powered by a separate motor assembly to allow for individual movement of the various arm and hand members as required to move a point P to a tool 25 attached to hand assembly 27 along a spatial curve generally designated at 24.
  • An apparatus capable of precisely detecting both linear and rotary movements of arm assembly 26 and hand assembly 27 is generally designated at 23.
  • the apparatus functions as a programming device, in that apparatus 23 provides output signals adaptable for establishing a control program for operating the various motor assemblies to control the movements of the various arm and hand members described hereabove.
  • the linear movements of apparatus 23 will be described with reference to the Cartesian co-ordinate system designated by the X, Y and Z axes shown in FIG. 1.
  • apparatus 23 is capable of performing rotary movements about the three mutually perpendicular axes as indicated by the arrows dx, dy and dz, respectively.
  • FIG. 2 a longitudinal cross-sectional view of apparatus 23 is shown, wherein the left hand portion of FIG. 2 provides a cut-away view of a center portion 13 and surrounding sleeve member 14, while the right hand portion of FIG. 2 shows only a cross-sectional view of sleeve 14, with center portion 13 shown in the form of a top view.
  • Apparatus 23 takes the form of a handle-shaped member, wherein the center portion 13 is rigidly attached to hand member 27c and the longitudinal axis of apparatus 23 substantially corresponds with the Z axis of the above-described Cartesian co-ordinate system.
  • the sleeve member 14 surrounds the center portion 13, with a first end portion of sleeve 14 being attached to center portion 13 via four spaced blade members 15, 15', 15" and 15'".
  • sleeve 14 includes a second, opposite end portion which is attached to center portion 13 via four additional blade members 16, 16', 16" and 16'".
  • Each of the four blade members 15, 15', 15", and 15'" are circumferentially spaced substantially 90° relative to one another and are arranged about the Z axis extending longitudinally through center portion 13.
  • the four blade members 16, 16', 16", and 16'" are also circumferentially spaced substantially 90° relative to each other about the Z axis extending longitudinally through center portion 13.
  • Each of the blades members is formed of an elastically-deformable material which, in a preferred embodiment, may comprise a metal such as steel or the like.
  • plastic materials capable of elastic deformation may also be employed, for example, but not limited thereto, those materials sold under the trademark "NYLON or DELRAN". It is considered within the scope of the present invention to substitute other materials for the blade member, provided such materials are capable of the type of elastic deformation discussed hereafter.
  • the four blades members 15, 15', 15", and 15'” include a pair of blade members 15 and 15" positioned on opposite sides of center portion 13 from one another and a further pair of blade members 15' and 15'" also positioned on opposite sides of the center portion 13 from one another.
  • blade member 15 substantially faces arm assembly 26, while oppositely disposed blade member 15" faces away from arm assembly 26 and substantially in the direction of tool 25.
  • the further blade assembly includes a plurality of four separate blades, with blade members 16 and 16" positioned on opposite sides of center portion 13 from one another and blade members 16' and 16'" also positioned on opposite sides of center portion 13 from one another.
  • each of the blade members 16-16'" is axially aligned respective blade members 15-15'" as shown in FIG. 2.
  • each of the data producers comprises an expandable strip of wire extending parallel to the longitudinal axis Z formed through apparatus 23.
  • each of the strips functions as a transducer to provide an electrical signal indicative of the expansion of the particular strip.
  • blade members 15 and 15" include the expanding strips designated 7 and 8, while blade members 15' and 15'" carry expanding strips designated 2 and 1, respectively.
  • the blade members 16 and 16" carry the expanding strips designated 6 and 5, while the blade members 16' and 16'” include the expanding strips 4 and 3, respectively, wherein expanding strips 3-6 are shown in parentheses in FIG. 3.
  • two additional blade members 17 and 17' are attached to surface portions of center portion 13 positioned substantially half-way between blade members 15-15'" and 16-16'", respectively.
  • Each of the blade members 17 and 17' extends substantially parallel to the longitudinal axis Z passing through center portion 13, with free end portions of the blades 17 and 17' facing each other.
  • Expandable measuring strips 9 and 10 are fixedly mounted on blade members 17 and 17', with a bolt 18 being attached to sleeve 14 and projecting into snug engagement with recessed end portions formed on blades 17 and 17'.
  • a further pair of confronting blade members 20 and 20' are also mounted on center portion 13 as shown in FIG. 2.
  • each of the blade members 20 and 20' extends along the contour of center portion 13 in a direction substantially transverse to the longitudinal axis Z, with the free end portions of blade members 20 and 20' facing one another and with a pair of expandable wire measuring strips 11 and 12 mounted on the blades 20 and 20', respectively.
  • a bolt 19 is fixedly attached to sleeve 14 with an end portion of bolt 19 snuggly engaging a pair of recesses formed in free end portions of blades 20 and 20', respectively.
  • duct 21 extends longitudinally through the interior of center portion 13 housing one or more electrical wires extending therethrough.
  • electrical current can be sent through each of the measuring strips 1-12, with the resistance of each strip to the flow of electrical current being directly related to the deformation of the particular strip.
  • a predetermined reference signal can be sent through the electrical wires extending through duct 21, with the reference signal passing through the expanding measuring strips 1-12 attached thereto. If a particular measuring strip is caused to expand due to the formation of a particular blade member attached thereto, resistance of the measuring strip to the flow of electrical current will vary in accordance therewith. As a result, the particular input reference signal will also be altered in a manner directly corresponding to the degree of expansion encountered by the measuring strips.
  • the altered output from the deformed measuring strips can be fed into a conventional computer assembly capable of interpreting the change in signal level and establishing a control program which can be used for driving the various electrical motors employed to move arm and hand assemblies 26 and 27, respectively.
  • the preparation and execution of the control program makes up no part of the present invention and is therefore not described in detail herein.
  • sleeve 14 is pushed upwardly as shown in FIG. 2, whereby bolt 18 is caused to press against and deform blade member 17, resulting in the expansion of measuring strip 9 and the change of a reference signal flowing therethrough in a manner similar to the operation of strips 1-8. If, on the other hand, sleeve 14 is pulled downwardly, bolt 18 will abut and bend blade member 17' causing an expansion of measuring strip 10 mounted thereon.
  • measuring strips 1-10 it is possible to detect linear movement of sleeve 14 along each of the axes, X, Y and Z, respectively. It is, of course, evident that linear movement between the various axes can also be detected through the expansion of a combination of the various measuring strips. For example, movement in the direction of the arrow 28 as shown in FIG. 3 will result in the expansion of the particular measuring strips 1, 3, 6 and 7, respectively, which will generate specific output signals which can be used to establish a program for actuating the drive motors to result in hand 27 moving in the direction of arrow 28.
  • the rotary motion dy about the Y axis is achieved by grasping and turning sleeve 14 whereby blades 16 and 15'" are bent, causing an expansion of the measuring strips 6 and 8, respectively.
  • rotary movement in the direction opposite to dy results in the expansion of measuring strips 5 and 7, respectively.
  • the measuring strips 1 and 4 are caused to expand, while rotation in the counter dx direction results in the expansion of measuring strips 2 and 3, respectively.
  • each of the measuring strips 1-12 functions as a passive transducer having a variable resistance to the flow of electrical current, which resistance is dependent upon the degree of expansion of the particular measuring strip.
  • a predetermined or referenced current is supplied through the various measuring strips, with the change in resistance causing a corresponding change in the reference current.
  • transducers which detect the change in inductance and/or capacitance rather than measuring the change in resistance as employed in measuring strips 1-12. If inductive transducers are employed, each of the transducers is mounted on a blade member and is attached to a capacitor, whereby deformation of the blade results in a corresponding change in the inductivity of the transducer mounted thereon.
  • Such inductive transducers are also considered to be passive, in that, a reference signal must be initially provided through the various transducers. It is also possible to replace the passive transducers disclosed hereabove with active transducers which are capable of generating electrical signals as a direct result of the electrical and magnetic properties inherent in the materials forming the transducer strips themselves.
  • each pair of parallel extending, oppositely disposed measuring strips can be replaced by a single measuring strip which is capable of generating a first signal indicative of the expansion of the measuring strip and a second, further signal indicative of the compression of the measuring strip.
  • the expanding measuring strips 1-8 which become operative in pairs to detect the rotary movements about the X and Y axes, respectively, can be replaced by two measuring strips arranged at substantially right angles to one another, with the measuring strips providing variable changes in the resistance to the flow of electrical current depending upon the particular direction of rotation of the sleeve 14. In other words, a change in the resistance of the measuring strip to rotation in the dx direction would differ from the change in resistance of the strip to rotation in the counter dx direction.
  • the following table lists the various movements which an operator may perform on sleeve 14 and attached center portion 13, resulting in the corresponding movement of attached arm 27.
  • the table also indicates which measuring strips will be expanded as a result of the various movements of the apparatus 23.
  • FIG. 5 A further embodiment of the present invention is disclosed in FIG. 5, wherein a sleeve 14 surrounds and is relatively movable with respect to a center portion 13 rigidly connected to hand member 27c.
  • Sleeve 14 is provided with two first stops 28 and two second stops 29, wherein stops 28 adjoin without play a ball 30 and stops 29 adjoin a ball 31.
  • Ball 30 is supported by a first spring member 32 which, in turn, is clamped to center portion 13 at a point generally designated 34.
  • Ball 31 is likewise supported by a second spring member 33 which includes an end portion clamped to center portion 13 at a point 35.
  • the ball-carrying end portions of springs 32 and 33 point in opposite directions, as shown in FIG. 5.
  • inductive-type data producers 40 and 41 are mounted on opposite sides of spring 32, while a pair of inductive-type data producers 42 and 43 are mounted on opposite sides of springs 33, respectively.
  • Each pair of oppositely disposed data producers 40, 41 and 42, 43 receives an electrical current. If a force is exerted on sleeve 14 in the direction of the X axis, springs 32 and 33 will be deformed toward transducers 40 and 42, causing these transducers to be detuned by identical values in one direction with the remaining transducers 41 and 43 being detuned by identical values in the opposite direction.
  • transducers 41 and 43 are detuned by identical values in one direction, with the remaining data producers 40 and 42 being detuned by different identical values in the opposite direction.
  • transducers 40 and 43 are detuned by identical values in one direction, while the remaining transducers 41 and 42 are detuned in the opposite direction by identical values.
  • sleeve 14 can be arranged between sleeve 14 and center portion 13 for matching the components 28-43, which system is offset at a substantially 90° angle relative to the above-described system with elements 28-43 and which allows for the detection of forces within the Y axis to cause rotation of the sleeve 14 in the direction dx.
  • sleeve 14 is fastened at a point 39 to a spring 38 which carries a ball positioned within a slot 37 formed in the center portion 13.
  • a pair of inductive-type transducers 44 and 45 are positioned on opposite sides of spring 38.
  • transducers 45 is detuned in one direction while transducers 44 is detuned in a further, opposite direction. If a force is exerted in a direction opposite to the Z arrow shown in FIG. 5, the inductive-type transducer 45 is detuned in one direction, while the remaining trasducer 44 is detuned in the opposite direction. Likewise, if a force is exerted in a direction opposite to the Z direction shown in the arrow, the transducers 44 and 45 are also detuned in the opposite direction.
  • a torsion rod 49 extends substantially parallel to the longitudinal axis of sleeve 14, which longitudinal axis also corresponds to the Z axis.
  • Torsion rod 49 includes a first end portion attached to a transducer 48 and a further, opposite end portion clamped to center portion 13.
  • Transducer 48 in turn, is attached to a folding bellows coupling 47 which engages sleeve 14, with coupling 47 being capable of transferring only turning forces.
  • transducer 48 is detuned in one of two oppositely disposed directions because transducer 48 is caused to change its axial spacing from center portion 13 as torsion is applied to rod 49.
  • data producers 40-45 and 48 comprise tuned circuit elements wherein the inductance and capacitance of the circuit elements can be altered by adjusting the physical distance between the coil springs 32, 33 and 38 and the respective circuit elements mounted on either side thereof.
  • the resulting change in inductance and/or capacitance results in the effective detuning of the circuit, which detuning can be used as a basis for establishing a conventional program for controlling the drive motors attached to the arm and hand assemblies 26 and 27, respectively.
  • the table shown below lists the various movements and indicates which of the data producers 1-12 generate signals as a result of these movements.
US06/405,779 1978-09-22 1982-08-06 Apparatus for detecting forces directing the movement of a manipulating instrument Expired - Lifetime USRE31581E (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE2841284A DE2841284C2 (de) 1978-09-22 1978-09-22 Vorrichtung zum Programmieren eines Handhabungsgeräts
DE2841284 1978-09-22
DE7828226U DE7828226U1 (de) 1978-09-22 1978-09-22

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
US06/078,280 Reissue US4298308A (en) 1979-09-24 1979-09-24 Apparatus for detecting forces directing the movement of a manipulating instrument

Publications (1)

Publication Number Publication Date
USRE31581E true USRE31581E (en) 1984-05-08

Family

ID=25775802

Family Applications (1)

Application Number Title Priority Date Filing Date
US06/405,779 Expired - Lifetime USRE31581E (en) 1978-09-22 1982-08-06 Apparatus for detecting forces directing the movement of a manipulating instrument

Country Status (10)

Country Link
US (1) USRE31581E (de)
JP (1) JPS5547521A (de)
AT (1) AT365503B (de)
CA (1) CA1139404A (de)
CH (1) CH639310A5 (de)
DE (2) DE7828226U1 (de)
FR (1) FR2436655A1 (de)
GB (1) GB2036376B (de)
NL (1) NL189595C (de)
SE (1) SE443530B (de)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4621331A (en) * 1982-12-28 1986-11-04 Tokyo Shibaura Denki Kabushiki Kaisha Control system for grasping force of a manipulator for grasping objects
US5796927A (en) * 1991-06-14 1998-08-18 Honeywell Inc. Rate mode hand controller with force reflection
US20110303655A1 (en) * 2008-09-30 2011-12-15 National Institute For Materials Science Welding equipment for metallic materials and method for welding metallic materials

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4283764A (en) * 1979-10-12 1981-08-11 Nordson Corporation Manually programmable robot with power-assisted motion during programming
JPS5878205A (ja) * 1981-11-02 1983-05-11 Kobe Steel Ltd 工業用ロボツトのテイ−チング方法
DE3211992A1 (de) * 1982-03-31 1983-10-06 Wagner Gmbh J Verfahren und vorrichtung zum programmieren eines roboters, insbesondere farbspritzroboters
JPS5914484A (ja) * 1982-07-09 1984-01-25 株式会社日立製作所 ロボツトの直接テイ−チ装置
DE3372942D1 (en) * 1982-09-25 1987-09-17 Fujitsu Ltd A multi-articulated robot
DE3240251A1 (de) * 1982-10-30 1984-05-03 Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln Verfahren zum programmieren von bewegungen und erforderlichenfalls von bearbeitungskraeften bzw. -momenten eines roboters oder manipulators und einrichtung zu dessen durchfuehrung
EP0117334A3 (de) * 1982-11-09 1986-01-15 EMI Limited Für mehrere Kraftkomponenten empfindliche Vorrichtung
JPS59108691A (ja) * 1982-12-13 1984-06-23 株式会社日立製作所 バランサ制御方式
JP2650889B2 (ja) * 1983-04-28 1997-09-10 株式会社日立製作所 関節形ロボットの教示方法
DE8434357U1 (de) * 1984-11-23 1985-04-04 Richter, Hans, 8900 Augsburg Greiferhand bei einem manipulator
GB2174216B (en) * 1985-03-19 1988-10-26 Mitutoyo Mfg Co Ltd Method of operating a coordinate measuring instrument
DE3526958A1 (de) * 1985-07-27 1985-12-19 Daimler-Benz Ag, 7000 Stuttgart Im teach-in-verfahren programmierbarer lackierroboter
JP2728392B2 (ja) * 1986-06-11 1998-03-18 株式会社日立製作所 ハンドル制御装置
US4982611A (en) * 1988-05-24 1991-01-08 Wisconsin Alumni Research Foundation Multiple-degree-of-freedom sensor tip for a robotic gripper
US5010773A (en) * 1990-01-24 1991-04-30 Wisconsin Alumni Research Foundation Sensor tip for a robotic gripper and method of manufacture
DE9001451U1 (de) * 1990-02-08 1991-06-06 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg, De
CA2522097C (en) 2003-04-28 2012-09-25 Stephen James Crampton Cmm arm with exoskeleton
CN104647357A (zh) * 2015-01-09 2015-05-27 广西大学 一种四自由度步进电机驱动关节型机械手
CA2974996C (en) 2015-02-02 2023-02-28 The University Of Western Ontario Navigation by bending forces
DE102015214170A1 (de) * 2015-07-27 2017-02-02 Kuka Roboter Gmbh Roboter mit einer Kraftmesseinrichtung
DE102015117213B4 (de) 2015-10-08 2020-10-29 Kastanienbaum GmbH Roboterarm
JP7420543B2 (ja) * 2019-12-13 2024-01-23 川崎重工業株式会社 遠隔操縦装置

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3648143A (en) * 1969-08-25 1972-03-07 Harper Associates Inc Automatic work-repeating mechanism
US3951271A (en) * 1974-05-03 1976-04-20 Mette Klaus Hermann Robot control device
US4105937A (en) * 1975-05-23 1978-08-08 Kobe Steel, Ltd. Teach-in method and apparatus for use in an industrial robot
US4187454A (en) * 1977-04-30 1980-02-05 Tokico Ltd. Industrial robot
US4283764A (en) * 1979-10-12 1981-08-11 Nordson Corporation Manually programmable robot with power-assisted motion during programming

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US344766A (en) * 1886-06-29 Grate
FR1038409A (fr) * 1951-06-14 1953-09-28 M Le Secretaire D Etat Aux For Poignée dynamométrique pour manche à balai de pilotage des aérodynes
US3434342A (en) * 1965-12-06 1969-03-25 Lear Siegler Inc Force sensing apparatus
US3493906A (en) * 1969-02-19 1970-02-03 Lear Siegler Inc Control wheel force sensor
US3676818A (en) * 1971-05-10 1972-07-11 Sperry Rand Corp Control stick transducer
US3835702A (en) * 1973-09-13 1974-09-17 Us Air Force Multi-axis bio-mechanical force measuring device
US3939704A (en) * 1974-08-07 1976-02-24 The Bendix Corporation Multi-axis load cell
SE416452B (sv) * 1975-06-16 1981-01-05 Asea Ab Industrirobot
DE2731041C3 (de) * 1976-07-09 1981-04-02 Régie Nationale des Usines Renault, Boulogne-Billancourt, Hauts-de-Seine Programmiervorrichtung für eine programmgesteuerten Anstrichmanipulator
CA1080828A (en) * 1976-07-26 1980-07-01 Bendix Corporation (The) Method and apparatus for generating position or path control programs using force feedback
FR2369055A1 (fr) * 1976-10-29 1978-05-26 Creusot Loire Dis

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3648143A (en) * 1969-08-25 1972-03-07 Harper Associates Inc Automatic work-repeating mechanism
US3951271A (en) * 1974-05-03 1976-04-20 Mette Klaus Hermann Robot control device
US4105937A (en) * 1975-05-23 1978-08-08 Kobe Steel, Ltd. Teach-in method and apparatus for use in an industrial robot
US4187454A (en) * 1977-04-30 1980-02-05 Tokico Ltd. Industrial robot
US4283764A (en) * 1979-10-12 1981-08-11 Nordson Corporation Manually programmable robot with power-assisted motion during programming

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4621331A (en) * 1982-12-28 1986-11-04 Tokyo Shibaura Denki Kabushiki Kaisha Control system for grasping force of a manipulator for grasping objects
US5796927A (en) * 1991-06-14 1998-08-18 Honeywell Inc. Rate mode hand controller with force reflection
US20110303655A1 (en) * 2008-09-30 2011-12-15 National Institute For Materials Science Welding equipment for metallic materials and method for welding metallic materials
US9079266B2 (en) * 2008-09-30 2015-07-14 Neturen Co., Ltd. Welding equipment for metallic materials and method for welding metallic materials
US10189112B2 (en) 2008-09-30 2019-01-29 Neturen Co., Ltd. Welding equipment for metallic materials and method for welding metallic materials

Also Published As

Publication number Publication date
CH639310A5 (de) 1983-11-15
NL189595B (nl) 1993-01-04
GB2036376A (en) 1980-06-25
NL189595C (nl) 1993-06-01
CA1139404A (en) 1983-01-11
DE7828226U1 (de) 1987-01-02
GB2036376B (en) 1982-12-15
JPS6411430B2 (de) 1989-02-23
SE7907758L (sv) 1980-03-23
SE443530B (sv) 1986-03-03
DE2841284C2 (de) 1982-04-15
FR2436655B1 (de) 1984-07-20
NL7906827A (nl) 1980-03-25
DE2841284A1 (de) 1980-04-03
ATA608979A (de) 1981-06-15
FR2436655A1 (fr) 1980-04-18
JPS5547521A (en) 1980-04-04
AT365503B (de) 1982-01-25

Similar Documents

Publication Publication Date Title
USRE31581E (en) Apparatus for detecting forces directing the movement of a manipulating instrument
US4298308A (en) Apparatus for detecting forces directing the movement of a manipulating instrument
US5004391A (en) Portable dextrous force feedback master for robot telemanipulation
US3370213A (en) Force control system for manipulator component
JP4587498B2 (ja) 少なくとも３つの自由度を有する変位を求めるための位置測定装置
US4575297A (en) Assembly robot
JP6651636B2 (ja) ロボットの制御装置およびロボットの制御方法
JP6771888B2 (ja) ロボット装置、制御方法、物品の製造方法、プログラム及び記録媒体
US4278920A (en) Method and apparatus for generating position or path control programs using force feedback
US4488441A (en) Apparatus for simultaneous measurement of mutually perpendicular forces and moments
US4715773A (en) Method and apparatus for repositioning a mislocated object with a robot hand
EP1645374A1 (de) Greiferhand mit Dehnungsmessvorrichtungen zur Steuerung der Greifkraft
JP2665897B2 (ja) ロボット作業教示装置
Bonev et al. A closed-form solution to the direct kinematics of nearly general parallel manipulators with optimally located three linear extra sensors
JPH11231925A (ja) ダイレクトティーチング用ロボットの手先
GB2144711A (en) Active compliant articulated device
CA1080828A (en) Method and apparatus for generating position or path control programs using force feedback
De et al. A two‐DOF manipulator with adjustable compliance capabilities and comparison with the human finger
JP2557735B2 (ja) 多軸ジョイスティック
CN216148190U (zh) 手术装置
JP3406259B2 (ja) ジョイスティック型コントローラ
SU982896A2 (ru) Рука манипул тора
DE102005054551B3 (de) Vorrichtung zum Verlagern von Endeffektoren an Mess- oder Handhabungseinrichtungen sowie Verfahren zur Bestimmung der Kontaktkraft oder der Position eines Endeffektors
SU1579772A1 (ru) Задающее устройство дл управлени манипул тором
SU1364466A1 (ru) Способ определени пространственного движени звеньев манипул тора и устройство дл его осуществлени

Legal Events

Date Code Title Description
AS Assignment

Owner name: GESELLSCHAFT FUR DIGITALE AUTOMATION MBH, D-8000 M

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST.;ASSIGNOR:RICHTER, HANS;REEL/FRAME:004209/0130

Effective date: 19831110

AS Assignment

Owner name: BLOMBERG ROBOTERTECHNIK GMBH, VOLTASTRASSE 50, D-4

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST.;ASSIGNOR:RICHTER, HANS;REEL/FRAME:004817/0998

Effective date: 19871007

Owner name: RICHTER, HANS, OBERLANDERSTRASSE 123, D-8900 AUGSB

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST.;ASSIGNOR:GESELLSCHAFT FUR DIGITALE AUTOMATION MBH;REEL/FRAME:004827/0496

Effective date: 19850716