Material or article handling – Vertically swinging load support – Grab
Patent
1989-02-23
1990-02-27
Spar, Robert J.
Material or article handling
Vertically swinging load support
Grab
318594, 318616, 31856811, 901 9, 414917, B66C 110
Patent
active
049041525
ABSTRACT:
In an industrial robot including a control apparatus capable of executing control of the robot in a position control mode, a velocity control mode and a current control mode. The control apparatus includes a changeover section (20) for executing changeover between the position control mode and the current control mode. The position of an object is sensed by driving a set of arms of the robot in a force control mode which is a combination of the velocity control mode and the current control mode, and detecting the position at which the arms contact an object and are halted. Detection of the halted condition is performed based on a condition of an output signal produced from a position sensor (13), and by repetitively performing such detection for a plurality of different points on the body surface, a plurality of position values are derived which are compared with reference position data. Any change of the position of the object from a reference position is thereby computed by a computation section (24), whereby the robot itself is capable of sensing the position or attitude of an object, in 2 dimensions or 3 dimensions.
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Doi Makoto
Hasegawa Mikio
Ide Toshihiro
Inoue Toshitsugu
Nakada Akiyoshi
Hienz William M.
Matsushita Electric - Industrial Co., Ltd.
Spar Robert J.
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