Robots – Counterbalance
Patent
1994-01-19
1995-11-21
Moore, David K.
Robots
Counterbalance
395 80, 395 97, 901 9, 901 15, G06F 1550
Patent
active
054695317
ABSTRACT:
The invention relates to the control of robot manipulators comprised of a macro-manipulator combined with a micro-manipulator with a load grasping device. The control is accomplished from set-point values of force (F.sup.d) and set-point values of position (.chi..sup.d), which are compared to real values (F.sup.m, .chi..sup.m) in order to produce increments of displacement (.DELTA.x, .DELTA.y, .DELTA.z, .DELTA..theta.x, .DELTA..theta.y, .DELTA..theta.z) intended for the load grasping device. Added to values (.chi..sup.m) representing the actual position, these increments yield new set-point values of position (.chi.'.sup.d) of the load grasping device. These set-point values are distributed (at 29) between the macro-manipulator and the micro-manipulator, taking into account the deformation (.DELTA.X ) and the mobility that are acceptable for the macro-manipulator. Specific application: robot manipulator of large size and high capacity for outdoor use, especially on construction sites.
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Nguyen, Charles C. "Analysis And Implementation Of A 6 DOF Stewart Platform-Based Force Sensor For Passive Compliant Robotic Assembly." IEEE Proceedings Of The Southeastcon '91. vol. 2, 1991. pp. 880-884.
Faure Serge
Gaillet Alain
Lefebvre Regis
Reboulet Claude
Hafiz Tariq Rafiq
Moore David K.
Potain
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