Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1990-12-05
1992-07-14
Ip, Paul
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
31856816, 318628, 318632, 901 3, 901 9, 901 15, 395 1, G05B 1940
Patent
active
051306328
ABSTRACT:
A manipulator, having six degrees of freedom of movement and having a force sensor mounted thereto, is controlled by computing forces and moments applied to the regions of the manipulator from the output of the force sensor. When a force and/or a moment in excess of an allowable load and an allowable load moment of the regions is applied to any region, the joint subjected to the largest load is stopped to save energy consumption of the manipulator. Alternatively by driving the joint in the direction of lessening the load and the load moment, forces and/or moments are prevented from being applied to the regions of the manipulator. Therefore, optimum design is made possible with regard to the strength of the regions of the manipulator and reductions in size and weight of the manipulator can be achieved.
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Proceeding of the 16th International Symposium on Space Technology and Science, 1988, pp. 1655-1660.
Ezawa Naoya
Takarada Shinichi
Hitachi , Ltd.
Ip Paul
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