Material or article handling – Vertically swinging load support – Grab
Patent
1989-02-14
1990-11-27
Bucci, David A.
Material or article handling
Vertically swinging load support
Grab
74479, 901 15, 901 24, 901 28, B25J 1700
Patent
active
049732153
ABSTRACT:
A digitally controlled industrial robot comprises a set of unitized and integrated joint drive modules which can be assembled in series to form an arm. The joints are of two basic types, pitch joints and roll joints, with the roll joints providing rotation about the longitudinal axis of the manipulator and the pitch joints providing rotation about axes which are substantially perpendicular to and offset from the roll joint axes. Any number of joints may be assembled to comprise the manipulator, permitting the configuration of a kinematically redundant manipulator. A servocontrol derives feedback from sensing the motive force on a driven member and compensates the drive signal accordingly. More particularly, the torque exerted on each roll and pitch joint is measured and used for feedback to provide stability and optimum bandwidth for the servomechanism.
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Damico David A.
Eismann Paul H.
Karlen James P.
Kowalski Keith A.
Thompson, Jr. Jack M.
Bucci David A.
Robotics Research Corporation
Underwood Donald W.
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