Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1976-03-03
1979-02-20
Dobeck, B.
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
318571, 318632, G05B 1942
Patent
active
041409531
ABSTRACT:
A programmable manipulator apparatus employs a memory for storing digital representations corresponding to different positions of the programmable manipulator in a number of different axes. The manipulator apparatus includes encoders for developing position signals representing the position of the manipulator in each of the axes. During repetitive work cycles, the stored digital signals in the memory are utilized as command signals and are compared with the encoder signals to move the manipulator to each set of positions in sequence corresponding to the various recorded positions as they appear in the memory. A program modification apparatus is provided to modify or correct certain manipulative positions of various sequence steps during the repetitive work cycles. The operator selects the program steps to be modified along with the desired positional modifications of the manipulator both as to magnitude and direction in the various axes as determined by his observations and/or results of the work cycle.
REFERENCES:
patent: 3551656 (1970-12-01), Wohlfeil
patent: 3555254 (1971-01-01), Gerber
patent: 3701888 (1972-10-01), McDaniel
patent: 3725654 (1973-04-01), Tripp
patent: 3766460 (1973-10-01), Hentz et al.
patent: 3770947 (1973-11-01), Deily
patent: 3885207 (1975-05-01), DuBosque et al.
patent: 3906323 (1975-09-01), Ono et al.
patent: 4025838 (1977-05-01), Watanabe
Dobeck B.
Unimation Inc.
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