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CA1139404A - Apparatus for detecting forces directing the movement of a manipulating instrument - Google Patents

Apparatus for detecting forces directing the movement of a manipulating instrument

Info

Publication number
CA1139404A
CA1139404A CA000335986A CA335986A CA1139404A CA 1139404 A CA1139404 A CA 1139404A CA 000335986 A CA000335986 A CA 000335986A CA 335986 A CA335986 A CA 335986A CA 1139404 A CA1139404 A CA 1139404A
Authority
CA
Canada
Prior art keywords
center part
transducer means
data transducer
pair
longitudinal axis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
CA000335986A
Other languages
English (en)
French (fr)
Inventor
Hans Richter
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
HA Schlatter AG
Original Assignee
HA Schlatter AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by HA Schlatter AG filed Critical HA Schlatter AG
Application granted granted Critical
Publication of CA1139404A publication Critical patent/CA1139404A/en
Expired legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0081—Programme-controlled manipulators with leader teach-in means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37357—Force, pressure, weight or deflection
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H2239/00—Miscellaneous
    • H01H2239/052—Strain gauge

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
CA000335986A 1978-09-22 1979-09-20 Apparatus for detecting forces directing the movement of a manipulating instrument Expired CA1139404A (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE7828226U DE7828226U1 (de) 1978-09-22 1978-09-22 Vorrichtung zum Programmieren eines Handhabungsgeräts
DE2841284A DE2841284C2 (de) 1978-09-22 1978-09-22 Vorrichtung zum Programmieren eines Handhabungsgeräts
DEP2841284.2 1978-09-22

Publications (1)

Publication Number Publication Date
CA1139404A true CA1139404A (en) 1983-01-11

Family

ID=25775802

Family Applications (1)

Application Number Title Priority Date Filing Date
CA000335986A Expired CA1139404A (en) 1978-09-22 1979-09-20 Apparatus for detecting forces directing the movement of a manipulating instrument

Country Status (10)

Country Link
US (1) USRE31581E (sv)
JP (1) JPS5547521A (sv)
AT (1) AT365503B (sv)
CA (1) CA1139404A (sv)
CH (1) CH639310A5 (sv)
DE (2) DE2841284C2 (sv)
FR (1) FR2436655A1 (sv)
GB (1) GB2036376B (sv)
NL (1) NL189595C (sv)
SE (1) SE443530B (sv)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016123697A1 (en) * 2015-02-02 2016-08-11 The University Of Western Ontario Navigation by bending forces

Families Citing this family (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4283764A (en) * 1979-10-12 1981-08-11 Nordson Corporation Manually programmable robot with power-assisted motion during programming
JPS5878205A (ja) * 1981-11-02 1983-05-11 Kobe Steel Ltd 工業用ロボツトのテイ−チング方法
DE3211992A1 (de) * 1982-03-31 1983-10-06 Wagner Gmbh J Verfahren und vorrichtung zum programmieren eines roboters, insbesondere farbspritzroboters
JPS5914484A (ja) * 1982-07-09 1984-01-25 株式会社日立製作所 ロボツトの直接テイ−チ装置
EP0108657B1 (en) * 1982-09-25 1987-08-12 Fujitsu Limited A multi-articulated robot
DE3240251A1 (de) * 1982-10-30 1984-05-03 Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln Verfahren zum programmieren von bewegungen und erforderlichenfalls von bearbeitungskraeften bzw. -momenten eines roboters oder manipulators und einrichtung zu dessen durchfuehrung
EP0117334A3 (en) * 1982-11-09 1986-01-15 EMI Limited Arrangement for sensing several components of force
JPS59108691A (ja) * 1982-12-13 1984-06-23 株式会社日立製作所 バランサ制御方式
JPS59124589A (ja) * 1982-12-28 1984-07-18 株式会社東芝 産業用ロボツト
JP2650889B2 (ja) * 1983-04-28 1997-09-10 株式会社日立製作所 関節形ロボットの教示方法
DE8434357U1 (de) * 1984-11-23 1985-04-04 Richter, Hans, 8900 Augsburg Greiferhand bei einem manipulator
GB2174216B (en) * 1985-03-19 1988-10-26 Mitutoyo Mfg Co Ltd Method of operating a coordinate measuring instrument
DE3526958A1 (de) * 1985-07-27 1985-12-19 Daimler-Benz Ag, 7000 Stuttgart Im teach-in-verfahren programmierbarer lackierroboter
JP2728392B2 (ja) * 1986-06-11 1998-03-18 株式会社日立製作所 ハンドル制御装置
US4982611A (en) * 1988-05-24 1991-01-08 Wisconsin Alumni Research Foundation Multiple-degree-of-freedom sensor tip for a robotic gripper
US5010773A (en) * 1990-01-24 1991-04-30 Wisconsin Alumni Research Foundation Sensor tip for a robotic gripper and method of manufacture
DE9001451U1 (de) * 1990-02-08 1991-06-06 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg Programmierhilfe für einen mehrachsigen Manipulator
EP0518303B1 (en) * 1991-06-14 1998-01-07 Honeywell Inc. Rate mode hand controller with force reflection
EP1633534B1 (en) 2003-04-28 2018-09-12 Nikon Metrology NV Cmm arm with exoskeleton
EP2351628B1 (en) 2008-09-30 2018-06-13 Neturen Co., Ltd. Welding device for metal and welding method for metal
CN104647357A (zh) * 2015-01-09 2015-05-27 广西大学 一种四自由度步进电机驱动关节型机械手
DE102015214170A1 (de) 2015-07-27 2017-02-02 Kuka Roboter Gmbh Roboter mit einer Kraftmesseinrichtung
DE102015117213B4 (de) 2015-10-08 2020-10-29 Kastanienbaum GmbH Roboterarm
JP7420543B2 (ja) * 2019-12-13 2024-01-23 川崎重工業株式会社 遠隔操縦装置

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US344766A (en) * 1886-06-29 Grate
FR1038409A (fr) * 1951-06-14 1953-09-28 M Le Secretaire D Etat Aux For Poignée dynamométrique pour manche à balai de pilotage des aérodynes
US3434342A (en) * 1965-12-06 1969-03-25 Lear Siegler Inc Force sensing apparatus
US3493906A (en) * 1969-02-19 1970-02-03 Lear Siegler Inc Control wheel force sensor
US3648143A (en) * 1969-08-25 1972-03-07 Harper Associates Inc Automatic work-repeating mechanism
US3676818A (en) * 1971-05-10 1972-07-11 Sperry Rand Corp Control stick transducer
US3835702A (en) * 1973-09-13 1974-09-17 Us Air Force Multi-axis bio-mechanical force measuring device
US3951271A (en) * 1974-05-03 1976-04-20 Mette Klaus Hermann Robot control device
US3939704A (en) * 1974-08-07 1976-02-24 The Bendix Corporation Multi-axis load cell
DE2622906B2 (de) * 1975-05-23 1981-04-16 Kobe Steel, Ltd., Kobe, Hyogo Verfahren und Einrichtung zur Steuerung eines Industrieautomaten
SE416452B (sv) * 1975-06-16 1981-01-05 Asea Ab Industrirobot
DE2731041C3 (de) * 1976-07-09 1981-04-02 Régie Nationale des Usines Renault, Boulogne-Billancourt, Hauts-de-Seine Programmiervorrichtung für eine programmgesteuerten Anstrichmanipulator
CA1080828A (en) * 1976-07-26 1980-07-01 Bendix Corporation (The) Method and apparatus for generating position or path control programs using force feedback
FR2369055A1 (fr) * 1976-10-29 1978-05-26 Creusot Loire Dis
CA1121888A (en) * 1977-04-30 1982-04-13 Junichi Ikeda Industrial robot
US4283764A (en) * 1979-10-12 1981-08-11 Nordson Corporation Manually programmable robot with power-assisted motion during programming

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016123697A1 (en) * 2015-02-02 2016-08-11 The University Of Western Ontario Navigation by bending forces
US10499995B2 (en) 2015-02-02 2019-12-10 Louis FERREIRA Navigation by bending forces

Also Published As

Publication number Publication date
JPS5547521A (en) 1980-04-04
DE7828226U1 (de) 1987-01-02
CH639310A5 (de) 1983-11-15
DE2841284A1 (de) 1980-04-03
AT365503B (de) 1982-01-25
GB2036376B (en) 1982-12-15
FR2436655B1 (sv) 1984-07-20
USRE31581E (en) 1984-05-08
DE2841284C2 (de) 1982-04-15
ATA608979A (de) 1981-06-15
SE7907758L (sv) 1980-03-23
NL189595B (nl) 1993-01-04
SE443530B (sv) 1986-03-03
JPS6411430B2 (sv) 1989-02-23
NL189595C (nl) 1993-06-01
FR2436655A1 (fr) 1980-04-18
GB2036376A (en) 1980-06-25
NL7906827A (nl) 1980-03-25

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Legal Events

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