Robots – Counterbalance
Patent
1996-10-31
1998-11-17
Davis, George B.
Robots
Counterbalance
395 95, 395 96, 395 80, 901 30, 901 34, 901 47, G05B 1300, G05B 1900
Patent
active
058388826
ABSTRACT:
A robot and associated control system, as well as a method of control, for servicing a heat exchanger having a substantially planar tube sheet which defines a multiplicity of laterally spaced tube openings of known shape, each of which is centered at a coordinate on a tube sheet coordinate system. A sensory system associated with the robot end effector and the associated digital processing system, includes a vision subsystem for generating an image of a portion of the tube sheet and generating a first signal commensurate with the spatial relationship of the tool to a selected tube opening. An optical subsystem is also provided, for projecting a structured light beam toward the tube sheet and receiving a reflected structured light pattern, indicative of how closely the tool is aligned with the target opening. The end effector also includes transducers responsive to at least one of force and torque acting on the end effector, resulting from partial entry of the tool, or a tool proxy such as a guide, into a tube opening. The sensing of the reflected light pattern, and the sensing of the force and/or torque, result in the generation of second and third signals, respectively which, along with the first signal, are utilized in the computer for controlling the arm to center the tool for actuation fully into the selected tube opening.
REFERENCES:
patent: 4791588 (1988-12-01), Onda et al.
patent: 5345540 (1994-09-01), Schleifer et al.
Fitzgibbons Lance Terrance
Gan Zhongxue
Katz Jeffrey Sherman
Tang Qing
Combustion Engineering Inc.
Davis George B.
Mulholland John H.
Ristas L. James
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