Robot with controlled tool tracking displacement

Details Robot with controlled tool tracking displacement Robot with controlled tool tracking displacement

1989-06-23

1990-10-30

Shoop, Jr., William M.

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

318570, 318578, 36447403, G05B 1942

Patent

active

049671278

ABSTRACT:
A tracking control robot controls its arm end, which holds a tool, to track a taught path so that a reaction force between a workpiece and the tool remains constant. An ideal state for the arm end is determined from the present state of the arm end and the difference between the actual reaction force and a predetermined target force. Then, this ideal state is compared with a reference state of the arm end on the taught path to obtain a target position and a target attitude of the arm end. Since a target position is always determined independently of the last target position, no position error due to time delay affects a new target position even when the next target position is generated before the tool reaches the last target position. Thus, the robot is quick, responsive, and accurate when tracking at a constant operation speed.

REFERENCES:
patent: 3727119 (1973-04-01), Stanley et al.
patent: 3934186 (1976-01-01), Hayakawa et al.
patent: 4296473 (1981-10-01), Imazeki et al.
patent: 4362978 (1982-12-01), Pollard et al.
patent: 4408286 (1983-10-01), Kikuchi et al.
patent: 4575665 (1986-03-01), Matsuura et al.
patent: 4621332 (1986-11-01), Sugimoto et al.
patent: 4638221 (1987-01-01), Brignall
patent: 4639172 (1987-01-01), Kishi et al.
patent: 4703239 (1987-10-01), Yamazaki et al.
patent: 4757457 (1988-07-01), Matsumoto
patent: 4831316 (1989-05-01), Ishiguro et al.
Hirzinger et al., "Fast and Self-Improving compliance Using Digital Force-torque Control"; Proceedings of the 4th International Conference on Assembly Automation, Tokyo, Japan Oct. 11-13, 1983, pp. 268-281.
"Force Control System of a Light-weight Multi-articulated Robot Arms", No. 3209; Report of the 3rd Symposium of Robotics Society of Japan, Nov. 28-30, 1985, pp. 339-340.

Affiliated with

Also associated with

Rating

Robot with controlled tool tracking displacement does not yet have a rating. At this time, there are no reviews or comments for this patent.

If you have personal experience with Robot with controlled tool tracking displacement, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Robot with controlled tool tracking displacement will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFUS-PAI-O-276905