Electricity: motive power systems – Braking – Automatic and/or with time-delay means
Patent
1985-10-17
1987-02-17
Dobeck, Benjamin
Electricity: motive power systems
Braking
Automatic and/or with time-delay means
318587, 318640, 367909, G05D 102
Patent
active
046442375
ABSTRACT:
A collision avoidance system for a two arm robot is direction sensitive. When the separation between the arms is sensed as equal to or smaller than a predetermined distance, the trailing arm is slowed to avoid a collision. The separation sensor generates a first "slow" signal when the separation is a first predetermined distance, a second "slow" signal when the separation is a second predetermined distance, smaller than the first, and a "stop" signal when the separation is a third predetermined distance, smaller than the second. The polarity of the drive signals for the arms determine their direction, and polarity sensitive comparators determine the direction of each arm. When the first "slow" signal is present and one arm is moving in the direction of the other arm, a speed reducing resistor is inserted in the circuit for the drive signal for the one arm to reduce its speed. When the second "slow" signal is also present, a second speed reducing resistor is inserted in the drive signal circuit for the one arm, further reducing the velocity. A "stop" signal causes a controller to stop both arms.
REFERENCES:
patent: 3442347 (1969-05-01), Hodgson et al.
patent: 3892483 (1975-07-01), Saufferer
patent: 4026654 (1972-05-01), Beaurain
patent: 4473787 (1984-09-01), Schick
patent: 4554498 (1985-11-01), Fujiwara et al.
Frushour James E.
Mahar Michael L.
Majka Christopher J.
Swenson John E.
Dobeck Benjamin
Field Milton M.
International Business Machines Corp.
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