Positioning device

Details Positioning device Positioning device

1984-10-22

1986-10-14

Shoop, Jr., William M.

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

318569, 318568, 21912422, 21912511, G05B 1933, B23K 1912

Patent

active

046175040

ABSTRACT:
The invention relates to an adaptive control tool holder for fixing to the end of the carrier of a robot, controlling the displacement of said end in accordance with a stored path.
The tool holder defines a degree of freedom about an axis and a degree of translational freedom in a direction orthogonal to said axis. For a central translation reference position, the axis passes through the active center of the tool. A detection system rigidly fixed to the tool has preferably two detectors used for controlling the motors which control the two degrees of freedom, by means of independent feedback or control circuits. During the learning of the path prior to performing the task, the translation and the rotation are blocked in the reference position.

REFERENCES:
patent: 4215299 (1980-07-01), Edwin
patent: 4234777 (1980-11-01), Balfanz
patent: 4255643 (1981-03-01), Balfanz
patent: 4380696 (1983-04-01), Masaki
patent: 4501950 (1985-02-01), Richardson
E. A. Cladkov et al., "A Device for Guiding the Electrode Around a Curvilinear Butt Joint During Arc Welding", Sep., 1973, Automatic Welding, vol. 26, pp. 60-62.

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