WO1995007793A3 - Force and position controlled manipulator - Google Patents
Force and position controlled manipulator Download PDFInfo
- Publication number
- WO1995007793A3 WO1995007793A3 PCT/US1994/010091 US9410091W WO9507793A3 WO 1995007793 A3 WO1995007793 A3 WO 1995007793A3 US 9410091 W US9410091 W US 9410091W WO 9507793 A3 WO9507793 A3 WO 9507793A3
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- housing
- manipulator
- force
- joint
- gimbaled
- Prior art date
Links
- 230000000717 retained effect Effects 0.000 abstract 2
- 238000010276 construction Methods 0.000 abstract 1
- 230000005284 excitation Effects 0.000 abstract 1
Classifications
-
- 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
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
-
- 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
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/26—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members
- B23Q1/34—Relative movement obtained by use of deformable elements, e.g. piezoelectric, magnetostrictive, elastic or thermally-dilatable elements
- B23Q1/36—Springs
-
- 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
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU76456/94A AU7645694A (en) | 1993-09-13 | 1994-09-09 | Force and position controlled manipulator |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US120,262 | 1987-11-12 | ||
US12026293A | 1993-09-13 | 1993-09-13 | |
US17189193A | 1993-12-22 | 1993-12-22 | |
US171,891 | 1993-12-22 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO1995007793A2 WO1995007793A2 (en) | 1995-03-23 |
WO1995007793A3 true WO1995007793A3 (en) | 1995-11-30 |
Family
ID=26818215
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US1994/010091 WO1995007793A2 (en) | 1993-09-13 | 1994-09-09 | Force and position controlled manipulator |
Country Status (2)
Country | Link |
---|---|
AU (1) | AU7645694A (en) |
WO (1) | WO1995007793A2 (en) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2778738B1 (en) * | 1998-05-14 | 2000-07-21 | Rech Etude Materiel Ind Remi | DEVICE FOR CONTROLLING THE POSITIONING AND CENTERING OF A WORKPIECE |
US6974286B2 (en) * | 2003-07-25 | 2005-12-13 | Ati Industrial Automation, Inc. | Deburring tool |
US8610332B2 (en) * | 2008-10-09 | 2013-12-17 | Newcastle Innovation Limited | Positioning system and method |
US8020308B2 (en) * | 2009-05-29 | 2011-09-20 | General Electric Company | Non-destructive inspection system having self-aligning probe assembly |
Citations (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4084323A (en) * | 1975-05-13 | 1978-04-18 | Rolls-Royce Limited | Measuring apparatus |
US4087729A (en) * | 1975-04-21 | 1978-05-02 | Nippon Telegraph & Telephone Public Corporation | Position finely adjusting apparatus |
GB2056063A (en) * | 1979-07-03 | 1981-03-11 | Secr Defence | Stabilized platforms |
EP0113267A1 (en) * | 1982-12-07 | 1984-07-11 | ETAT-FRANCAIS représenté par le Délégué Général pour l' Armement | Electromechanical converter with several degrees of freedom |
JPS6097256A (en) * | 1983-11-02 | 1985-05-31 | Olympus Optical Co Ltd | Vibration applying apparatus of ultrasonic microscope |
DE3432842A1 (en) * | 1983-11-30 | 1985-06-05 | Jenoptik Jena Gmbh, Ddr 6900 Jena | X-Y AREA DRIVE WITH LIMITED (PHI) ROTATION AND Z-SHIFT |
JPS61221565A (en) * | 1985-03-27 | 1986-10-01 | Agency Of Ind Science & Technol | Double freedom degree dc motor capable of positioning |
JPS63156625A (en) * | 1986-12-19 | 1988-06-29 | Hitachi Ltd | Working tool holder for robot |
US4808063A (en) * | 1987-11-03 | 1989-02-28 | Westinghouse Electric Corp. | Robot system employing force/position control |
US4808892A (en) * | 1985-12-13 | 1989-02-28 | Kulick And Soffa Ind. Inc. | Bi-directional drive motor system |
US4836722A (en) * | 1985-08-10 | 1989-06-06 | Toyoda Gosei Co., Ltd. | Method and apparatus for removing flash of polymeric molded products |
DE3827656C1 (en) * | 1988-08-16 | 1989-08-10 | C. Stiefelmayer Kg, 7300 Esslingen, De | Holding device for measuring and/or marking-off tools |
EP0331265A2 (en) * | 1988-03-01 | 1989-09-06 | Hitachi Construction Machinery Co., Ltd. | Position/force controlling apparatus for working machine with multiple of degrees of freedom |
DE8907618U1 (en) * | 1988-07-22 | 1989-11-09 | Böcker, Heinrich-Georg, Dipl.-Ing., 59368 Werne | Device for monitoring and controlling the position of a machining tool |
DE3827960A1 (en) * | 1988-08-17 | 1990-02-22 | Siemens Ag | Device for the mutual alignment of two bodies |
US4988904A (en) * | 1989-02-02 | 1991-01-29 | Shinano Kenshi Kabushiki Kaisha | Voice coil motor with an encoder |
GB2235067A (en) * | 1989-05-25 | 1991-02-20 | Toyoda Chuo Kenkyusho Kk | Co-ordinated position and force control for a manipulator |
EP0453328A2 (en) * | 1990-02-22 | 1991-10-23 | Societe D'applications Generales D'electricite Et De Mecanique Sagem | D.C. motor with two axis of rotation, in particular for a view finder |
EP0508205A2 (en) * | 1991-04-09 | 1992-10-14 | Hewlett-Packard Company | System for hybrid position and force control |
US5239246A (en) * | 1992-07-08 | 1993-08-24 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Force reflection with compliance control |
-
1994
- 1994-09-09 AU AU76456/94A patent/AU7645694A/en not_active Abandoned
- 1994-09-09 WO PCT/US1994/010091 patent/WO1995007793A2/en active Application Filing
Patent Citations (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4087729A (en) * | 1975-04-21 | 1978-05-02 | Nippon Telegraph & Telephone Public Corporation | Position finely adjusting apparatus |
US4084323A (en) * | 1975-05-13 | 1978-04-18 | Rolls-Royce Limited | Measuring apparatus |
GB2056063A (en) * | 1979-07-03 | 1981-03-11 | Secr Defence | Stabilized platforms |
EP0113267A1 (en) * | 1982-12-07 | 1984-07-11 | ETAT-FRANCAIS représenté par le Délégué Général pour l' Armement | Electromechanical converter with several degrees of freedom |
JPS6097256A (en) * | 1983-11-02 | 1985-05-31 | Olympus Optical Co Ltd | Vibration applying apparatus of ultrasonic microscope |
DE3432842A1 (en) * | 1983-11-30 | 1985-06-05 | Jenoptik Jena Gmbh, Ddr 6900 Jena | X-Y AREA DRIVE WITH LIMITED (PHI) ROTATION AND Z-SHIFT |
JPS61221565A (en) * | 1985-03-27 | 1986-10-01 | Agency Of Ind Science & Technol | Double freedom degree dc motor capable of positioning |
US4836722A (en) * | 1985-08-10 | 1989-06-06 | Toyoda Gosei Co., Ltd. | Method and apparatus for removing flash of polymeric molded products |
US4808892A (en) * | 1985-12-13 | 1989-02-28 | Kulick And Soffa Ind. Inc. | Bi-directional drive motor system |
JPS63156625A (en) * | 1986-12-19 | 1988-06-29 | Hitachi Ltd | Working tool holder for robot |
US4808063A (en) * | 1987-11-03 | 1989-02-28 | Westinghouse Electric Corp. | Robot system employing force/position control |
EP0331265A2 (en) * | 1988-03-01 | 1989-09-06 | Hitachi Construction Machinery Co., Ltd. | Position/force controlling apparatus for working machine with multiple of degrees of freedom |
DE8907618U1 (en) * | 1988-07-22 | 1989-11-09 | Böcker, Heinrich-Georg, Dipl.-Ing., 59368 Werne | Device for monitoring and controlling the position of a machining tool |
DE3827656C1 (en) * | 1988-08-16 | 1989-08-10 | C. Stiefelmayer Kg, 7300 Esslingen, De | Holding device for measuring and/or marking-off tools |
DE3827960A1 (en) * | 1988-08-17 | 1990-02-22 | Siemens Ag | Device for the mutual alignment of two bodies |
US4988904A (en) * | 1989-02-02 | 1991-01-29 | Shinano Kenshi Kabushiki Kaisha | Voice coil motor with an encoder |
GB2235067A (en) * | 1989-05-25 | 1991-02-20 | Toyoda Chuo Kenkyusho Kk | Co-ordinated position and force control for a manipulator |
EP0453328A2 (en) * | 1990-02-22 | 1991-10-23 | Societe D'applications Generales D'electricite Et De Mecanique Sagem | D.C. motor with two axis of rotation, in particular for a view finder |
EP0508205A2 (en) * | 1991-04-09 | 1992-10-14 | Hewlett-Packard Company | System for hybrid position and force control |
US5239246A (en) * | 1992-07-08 | 1993-08-24 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Force reflection with compliance control |
Also Published As
Publication number | Publication date |
---|---|
AU7645694A (en) | 1995-04-03 |
WO1995007793A2 (en) | 1995-03-23 |
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