Material or article handling – Vertically swinging load support – Grab
Patent
1986-03-31
1989-05-02
Spar, Robert J.
Material or article handling
Vertically swinging load support
Grab
901 9, 901 10, 318625, 364513, B66C 100
Patent
active
048263923
ABSTRACT:
Two or more robotic arms having end effectors rigidly attached to an object to be moved are disclosed. A hybrid position/force control system is provided for driving each of the robotic arms. The object to be moved is represented as having a total mass that consists of the actual mass of the object to be moved plus the mass of the moveable arms that are rigidly attached to the moveable object. The arms are driven in a positive way by the hybrid control system to assure that each arm shares in the position/force applied to the object. The burden of actuation is shared by each arm in a non-conflicting way as the arm independently control the position of, and force upon, a designated point on the object.
REFERENCES:
patent: 3890552 (1975-06-01), Devol et al.
Orin, D. and Oh, S., "Control of Force Distribution in Robotic Mechanisms Containing Closed Kinematic Chains," Transactions of the ASME, vol. 102, Jun. 1981, pp. 134-141.
Ishida, T., "Force Control in Coordination of Two Arms," Proceedings of the 5th International Conference on Artificial Intelligence, pp.717-722, Aug. 1977.
Fujii, S. and Kurono, S., "Coordinated Computer Control of a Pair of Manipulators," Fourth World Congress on the Theory of Machines and Mechanisms, University of Newcastle Upon Tyne, Sep. 8-12, 1975.
Alford, C. O. and Belyen, S. M., "Coordinated Control of Two Robot Arms," Proceedings of the International Conference on Robotics, Atlanta, Geo., Mar. 13-15, 1984.
Mason, M. T., "Compliance and Force Control for Computer Controlled Manipulators," IEEE Transactions on Systems, Man, and Cybernetics SMC-11, Jun. 1981, pp. 418-432.
Raibert and Craig, "Hybrid Position/Force Control of Manipulator's," ASME Journal of Dynamics Systems, Measurement and Control, Jun. 1981.
Craig, J. J., Introduction to Robotics: Mechanics and Control, Addison-Wesley, 1985.
California Institute of Technology
Doyle Jennifer L.
Spar Robert J.
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