Robot system

Details Robot system Robot system

1988-03-30

1990-03-06

Shoop, Jr., William M.

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

318574, 318577, 31856816, 901 15, 901 17, 901 34, 364513, G05B 1942

Patent

active

049069071

ABSTRACT:
A robot system in which a force (torque) exerted on an end effector disposed at an end of a robot to hold an object is sensed to achieve a positioning control. The robot system includes a unit to sense an inertial force exerted on the end effector and the sensed result is fed back so as to remove the influence of the inertia force, thereby effecting an accurate positioning control.

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patent: 4661032 (1987-04-01), Arai
patent: 4675502 (1987-06-01), Haefner et al.
patent: 4761596 (1988-08-01), Nio et al.
"Virtual Compliance Control of Multiple Degree of Freedom Robot", Digests of the Society of Instrument and Control Engineer, vol. 22, No. 3 (Mar., 1986), pp. 343-349.
"Robot Manipulators: Mathematics, Programming, and Control", Rehard P. Paul, the MIT Press (cover only).

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