Electricity: motive power systems – Electric motor with nonmotor driving means – Manual driving means
Patent
1978-07-31
1981-07-14
Witkowski, S. J.
Electricity: motive power systems
Electric motor with nonmotor driving means
Manual driving means
318568, 318628, 318646, H02K 700
Patent
active
042789206
ABSTRACT:
A program controlled workpiece manipulator has a load cell supported between the manipulator clamp and the positioning elements which generate signals proportional to the various components of the forces exerted on the workholder by external instrumentalities. To generate a desired control program for the manipulator the outputs of the load cell and of the position transducers for the manipulator drive servos are used to generate command signals for the drive servos which urge motion of the clamp to reduce the externally imposed forces. The clamp is then manually grasped and urged toward the desired motion and the outputs of the position sensors are recorded during the motion to create a control program which may be replaced to control the manipulator to duplicate the motion.
REFERENCES:
patent: 3648143 (1972-03-01), Harper et al.
patent: 3986090 (1976-10-01), Hecker et al.
Indyk Eugene S.
Massung Howard G.
Seaman Kenneth A.
The Bendix Corporation
Witkowski S. J.
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