Compound module type manipulator apparatus

Details Compound module type manipulator apparatus Compound module type manipulator apparatus

1992-11-25

1995-06-27

MacDonald, Allen R.

395 84, 395 86, 395 93, 395 97, G05B 1900, G05B 1942

Patent

active

054287138

ABSTRACT:
A manipulator main body is constituted by a combination of a plurality of joint modules and a plurality of arm modules. In addition, each of the joint modules incorporates at least one gravity switch or the like as an identification signal generator for detecting the ordinal number of each joint module in the order of connection or its degree of freedom of assembly in a direction in a given coordinate system, and outputting an identification signal indicating the detection result. Furthermore, each of the arm modules incorporates at least one measurement signal generator for detecting the length and bending direction of each arm module, and outputting a measurement signal indicating the detection result. Moreover, the manipulator main body includes a signal processing unit for performing analysis processing of signals representing the states of the respective modules constituting the main body according to a predetermined procedure. The control program for controlling the manipulator main body is customized on the basis of the processed signals, and is started to allow the manipulator main body to perform an optimal operation in an assembled state.

REFERENCES:
patent: 3575301 (1968-01-01), Panissidi
patent: 4698572 (1987-10-01), Stone
patent: 4806060 (1989-02-01), Rhodes et al.
patent: 4937759 (1990-06-01), Vold
Toward Planning and Control of Highly Redundant Manipulators 5-7 Sep. 1990 A. Hayashi et al.
Two 7-R Manipulators Which Provide Controlably Dexterous Workspace, 14-19 May 1989 J. K. Davidson.

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