Boots – shoes – and leggings
Patent
1985-02-28
1987-08-04
Ruggiero, Joseph
Boots, shoes, and leggings
250203R, 364513, 364559, 364189, 901 47, G06F 1546
Patent
active
046850546
DESCRIPTION:
BRIEF SUMMARY
FIELD AND BACKGROUND OF THE INVENTION
The present invention relates to a method and apparatus for outlining the manipulation environment of a multiarticular duty machine, such as a hoist and transmitter, an excavator, a forest harvester or a rock drill, by means of a laser pointer in order to determine the trajectories automatically and to control the machine. The invention can also be applied for teaching an industrial robot its working cycle.
At present a multiarticular duty machine, for instance a hydraulic jack, an excavator or a drilling arm assembly are controlled articulation by articulation so that the user, while controlling the various articulations, simultaneously also controls the movements of the arm head. While the total number of controlled articulations can rise up to seven, the arm control may become troublesome. The most developed manipulator arrangements have utilized a computer system for coordinating the movements so that the user may directly control the arm head by the control stick, and the computer calculates the control of each separate articulation and guides the arm control so that the arm head moves along a straight path to the direction ordered by the user. The user can also program the automatic cycles of the computer by means of the control stick and the keyboard. The said control method is generally known in the prior art, but the applications for controlling arm machines have been limited.
SUMMARY OF THE INVENTION
The purpose of the invented method is to release the user almost totally from controlling the arm and from teaching the automatic movements by handling the arm, so that he has his hands free for task description and for general control of operations. Before a certain work performance, the user registers the manipulation environment by means of a suitable device (laser pointer) into the control unit, and on the grounds of this simple registration the control unit determines the working cycles in order to perform the task. Thus the remaining duties of the user are to supervise the work performance and to correct trajectories if necessary. The invented method brings forth a completely new way of controlling duty machines provided with arms. The method is characterized by the novel features enlisted in the patent claims.
Another object of the invention is an apparatus for realizing the method. The system components include a laser spot pointer and a menu-type user keyboard, by means of which equipment the manipulation environment is registered. The system components as such do not form the object of the invention, because their operation is generally known in the prior art. The main inventive concept is the new way of combining old principles. The apparatus developed for applying the new method is characterized by the novel features enlisted in the patent claims.
The method of the present invention can also be applied in the teaching of industrial robots and manipulators, which is known to be a difficult and time-consuming operation. Robots of the first generation are taught so that the robot is once carried through the whole cycle, whereafter this cycle is stored in the memory so that it can later be repeated from the memory. The second generation robots are taught in the control language. This method of teaching is troublesome, too, because the user must define the cycle and the manipulated objects is an ordinary computer language. The method and apparatus of the present invention, combined to the teaching language, renders a teaching method which in many practical applications is suited for industrial robots much better than the currently used methods.
The present invention aims at developing a simple method and system for registering the environment of multiarticular duty machines provided with arm assemblies--such as hoist and transmitter equipment, excavators, forest harvesters and rock drills in order to define the working cycles automatically. Thus the principal purpose of the invention is to improve the degree of automatization in such duty machines that
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Halme Aarne
Manninen Markku
Ruggiero Joseph
Valtion teknillinen tutkimuskeskus
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