Material or article handling – Article manipulator moves analogous with human hand – finger,... – Electric or fluid motor drive for manipulator
Patent
1983-10-26
1986-05-20
Siemens, Terrance L.
Material or article handling
Article manipulator moves analogous with human hand, finger,...
Electric or fluid motor drive for manipulator
414 4, 901 4, 901 5, 901 23, 74471XY, B25J 300
Patent
active
045898103
ABSTRACT:
There is provided a device for programming motions and operational forces or torques of a robot, and a device for carrying out the method. The device includes a handle grip-sensor unit which includes a known sensor of forces and/or torques of the type which defines a load pick-up plate connected via spokes to a peripheral ring and via upright supports to a rigid base part. The peripheral ring is connected to an inner wall of a hollow body whose outer wall is shaped to match the contours of the human hand. The base part is rigidly connected either to an inertial platform or to an end link of the robot. The output of the sensor is connected to link driving means of the robot via a data-processing unit which converts the output signals from the sensor into data corresponding to forces or torques applied by the operator to the handgrip-sensor unit. The data-processing unit includes an algorithm which converts the output signals from the sensor into drive commands for the joint drives of the robot and adjusts the system of coordinates of the handgrip-sensor unit to the system of coordinates of movements of an actuator on the end link of the robot.
REFERENCES:
patent: 4132318 (1979-01-01), Wang et al.
patent: 4194437 (1980-03-01), Rosheim
patent: 4216467 (1980-08-01), Colston
patent: 4221997 (1980-09-01), Flemming
patent: 4348142 (1982-09-01), Figour
patent: 4367532 (1983-01-01), Crum et al.
"Robots With Force-Torque Sensing", Hirzinger, Process Automation, No. 1, . 8-12, 1982.
"Effect of Hand-Based Sensors on Manipulator Control Performance", Bejczy, Mechanism and Machine Theory, vol. 12, No. 5, pp. 547-567, 1977.
Heindl Johann
Hirzinger Gerhard
Deutsche Forschungs- und Versuchsanstalt fuer Luft- und Raumfahr
Siemens Terrance L.
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