Active compliant end-effector with force, angular position, and

Details Active compliant end-effector with force, angular position, and Active compliant end-effector with force, angular position, and

1987-03-30

1989-12-05

Spar, Robert J.

Material or article handling

Horizontally swinging load support

Swinging about pivot

414917, 901 9, 901 41, 901 45, 5116571, 74479, B66C 110

Patent

active

048849413

ABSTRACT:
A direct-drive active compliant end-effector (10) comprises a planar linkage (28) having input links (30, 44) driven by motors (24, 26). A force sensor (52) is connected between the output link (36) and a tool mount (48) for measuring tool interaction forces, signals representative of which together with those representative of angular displacement and velocity of the input links (30, 44) are used by a controller (82) for controlling the drive motors (24, 26) to provide active electronic compliancy.

REFERENCES:
patent: 4098001 (1978-07-01), Watson
patent: 4155169 (1979-05-01), Drake et al.
patent: 4324032 (1982-04-01), Gustavson et al.
patent: 4341502 (1982-07-01), Makino
patent: 4491760 (1985-01-01), Linvill
patent: 4523409 (1985-06-01), De Fazio
patent: 4603511 (1986-08-01), Komatsu et al.
patent: 4621332 (1986-11-01), Sugimoto et al.
patent: 4633414 (1986-12-01), Yabe et al.
patent: 4637775 (1987-01-01), Kato
patent: 4668146 (1987-05-01), Ageta
patent: 4706004 (1987-11-01), Komatsu et al.
patent: 4712971 (1987-12-01), Fyler
patent: 4756662 (1988-07-01), Tanie et al.
D. Seltzer, "Compliant Robot Wrist Sensing for Precision Assembly", ASME Winter Proceedings, 12/86, pp. 161-168.
H. Kazerooni et al., "The Fundamental Concepts of Robust Compliant Motion for Robot Manipulators", IEEE J. Robotics & Auto., 6/86.
H. Asada et al., "M.I.T. Direct-Drive Arm Project", ASME J. Dynamic Syst., Meas., Constr., vol. 106, No. 3, 1984.
"An Approach to Automated Deburring by Robot Manipulators", authored by H. Kazerooni, J. J. Bausch and B. M. Kramer, dated Dec. 1986, pp. 354-359, Transactions of the ASME, reprinted from Dec. 1986, vol. 108, Journal of Dynamic Systems, Measurement, and Control.

Affiliated with

Also associated with

Rating

Active compliant end-effector with force, angular position, and does not yet have a rating. At this time, there are no reviews or comments for this patent.

If you have personal experience with Active compliant end-effector with force, angular position, and , we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Active compliant end-effector with force, angular position, and will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFUS-PAI-O-2031756