Position/force controlling apparatus for working machine with mu

Details Position/force controlling apparatus for working machine with mu Position/force controlling apparatus for working machine with mu

1989-02-28

1992-07-07

MacDonald, Allen R.

Robots

Counterbalance

395 95, 901 9, 901 15, G06F 1550

Patent

active

051290448

ABSTRACT:
The position/force of a machine tool or robot end effecter having at least two degrees of freedom of movement is controlled. A first setting device sets the position command and/or posture command of the working tool on a machine. The instant position and/or posture of the working tool is detected. The force command and/or moment command for commanding the force and/or moment to be applied to the working tool is set, and the instant force and/or moment acting on the working tool is detected. A computing device determines from the position command and/or posture command and the instant position and/or posture, the position and/or posture offset in terms of the coordinate values of an operation coordinate system. A second computing device determines from the force command and/or moment command and the instant force and/or instant moment, force and/or moment offset in terms of the coordinate values of the operation coordinate system. Position/force computation for the control of the position of and the force on the working tool is computed from the position and/or posture offset and the force and/or moment offset in terms of the coordinate values of the operation coordinate system, thereby determining the amount of control to be effected on the working machine.

REFERENCES:
patent: 4547858 (1985-10-01), Horak et al.
patent: 4580229 (1986-04-01), Koyama et al.
patent: 4621332 (1986-11-01), Sugimoto et al.
patent: 4826392 (1989-05-01), Hayati
patent: 4860215 (1989-08-01), Seraji
"Papers of Society of Measuring and Automatic Control Engineering", vol. 22, No. 3, 1986, pp. 343-350.

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