Electricity: motive power systems – Positional servo systems – With particular 'error-detecting' means
Patent
1985-09-23
1987-01-20
Dobeck, Benjamin
Electricity: motive power systems
Positional servo systems
With particular 'error-detecting' means
318568, 901 16, G05B 106
Patent
active
046382348
ABSTRACT:
The invention relates to a remotely-operable remote handling arrangement use in radioactively loaded large-area cells of facilities containing process equipment for reprocessing irradiated nuclear fuels. The remote handling apparatus has an industrial robot which is controlled by a process computer and which, for the purpose of detecting the position of an arm of an articulated joint of the robot, is provided with a rotary sensor for determining the angular position of the arm. The rotary sensor is configured as a resolver and is configured pursuant to the induction principle. A second resolver is arranged coaxially with respect to the first resolver in order to be able to check the true position of the arm of the joint. On its shaft, the second resolver has a suitable indicator which is rotatable with the shaft relative to a zero mark. The true position of the shaft of the first resolver and thus the true position of the monitored arm is detected by a scan from the zero mark to an indicator on the shaft of the first-mentioned resolver.
REFERENCES:
patent: 4283764 (1981-08-01), Crum
patent: 4408286 (1983-10-01), Kikuchi et al.
patent: 4562391 (1985-12-01), Inoue
Berning Helmut
Schroder Gunter
Deutsche Gesellschaft fur Wiederaufarbeitung von Kernbrennstoffe
Dobeck Benjamin
Ottesen Walter
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