Balancer and controlling method thereof

Details Balancer and controlling method thereof Balancer and controlling method thereof

1983-12-02

1987-02-03

Croyle, Carlton R.

Material or article handling

Vertically swinging load support

Grab

901 8, 901 9, 901 48, 901 49, B66C 2300

Patent

active

046406638

ABSTRACT:
A robot balancer (2) and a method for controlling the balancer is disclosed which has a step or a force sensor (10) mounted on the tip of the arm (3) of the balancer (2), a step or an operational means (21) for calculating the velocity of the balancer from the force given by the force sensor, and a step or a control means (15) for controlling a velocity of the balancer (2) in response to a signal from the force sensor.

REFERENCES:
patent: 2846084 (1958-08-01), Goertz et al.
patent: 3145333 (1964-08-01), Pardini et al.
patent: 3824674 (1974-07-01), Inoyama et al.
patent: 3845284 (1974-10-01), Taguchi et al.
patent: 3993166 (1976-11-01), Senour
patent: 4177002 (1979-12-01), Motoda et al.
patent: 4264266 (1981-04-01), Trechsel
patent: 4283764 (1981-08-01), Crum et al.
patent: 4541770 (1985-09-01), Niinomi et al.
Structured Light Method, Y. Nakagawa and T. Ninomiya, Paper Presented at 1st Int'l. Symposium on Robot Research, Bretton Woods, N. H., 8/20-9/2, 1983.

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