초록 ▼

A robot is disclosed having a plurality of movable links interconnected end-to-end in series. Associated with each is an actuator and position transducer. Some of the links are relatively massive and cannot be readily moved without power assistance when the robot is manually programmed, while other

A robot is disclosed having a plurality of movable links interconnected end-to-end in series. Associated with each is an actuator and position transducer. Some of the links are relatively massive and cannot be readily moved without power assistance when the robot is manually programmed, while other links, namely those constituting the wrist, are relatively lightweight which permits movement thereof without power assistance during manual programming. A force transducer is connected in series with the output element of the robot in association with one of the massive links located between the wrist and the stationary base on which the robot is mounted. The transducer senses forces during programming applied to the massive links via the wrist when manual programming forces are applied to the robot output. The force transducer provides an output signal for each of the massive links correlated to the component of the manual programming force transmitted thereto via the wrist. During programming, the force transducer output signals are applied to the actuators of their respectively associated massive links to move the massive links in power-assisted fashion, while the lightweight links of the wrist move in unpowered fashion in response to the manual force applied thereto during programming. The power-assisted motion provided to the massive links by their respectively associated actuators, coupled with the unpowered motion of the lightweight links constituting the wrist, collectively produce motion of the robot output element in the direction to which the manual force is applied thereto during manual programming.

대표청구항 ▼

A robot which can be manually programmed to repetitively execute a series of programmed motions, comprising: a base engageable with a supporting structure for supporting said robot, at least one relatively massive elongated link, said massive link having first and second extremities, first means int

A robot which can be manually programmed to repetitively execute a series of programmed motions, comprising: a base engageable with a supporting structure for supporting said robot, at least one relatively massive elongated link, said massive link having first and second extremities, first means interconnecting said base and said first extremity of said massive link for facilitating selective movement of said massive link in a first direction relative to said base to provide a first degree of freedom for said robot, at least one relatively lightweight elongated link having an outer end to which a device is connectable for programmed movement in a path having at least two degrees of freedom, said lightweight link also having an inner end, second means interconnecting said inner end of said lightweight link to said second extremity of said massive link for facilitating selective movement of said lightweight link in a second direction relative to said massive link, said second direction being different from said first direction to provide said robot with a second degree of freedom and facilitate motion thereof in two different directions, said lightweight link being movable relative to said massive link in said second direction without power assistance when a manual force is applied to the outer end of said lightweight link during manual programming of said robot, said massive link being relatively immovable in said first direction without power assistance in response to application of manual force to said outer end of said lightweight link during manual programming, a first actuator associated with said massive link for moving, when actuated, said massive link in said first direction relative to said base, a second actuator associated with said lightweight link for moving, when actuated, said lightweight link in said second direction, a first position transducer associated with said massive link for providing a signal correlated to the position of said massive link, a second position transducer associated with said lightweight link for providing a signal correlated to the position of said lightweight link, a force transducer mounted in series with said massive and lightweight links between said base and said second interconnecting means for sensing the force to which said massive link is subjected to said first direction by the application of a manual programming force to said outer end of said lightweight link during manual programming of said robot, said manual programming force being applied in an arbitrary direction non-coincident with either of said first or second directions, but having force components simultaneously in both said first and second directions to induce movement of said massive and lightweight links simultaneously in both said first and second directions, respectively, said force transducer providing an output signal having components correlated to (a) said manual programming force component applied to said outer end of said lightweight link in said first direction and (b) the inertial force due to acceleration of said lightweight link in said first direction, inertial force compensation circuit means for cancelling at least a portion of said component of said force transducer output signal correlated to the inertial force of said lightweight link in said first direction and providing an inertial force compensated signal to said first actuator which is correlated to the component of said manual programming force applied in said first direction for producing, during manual programming, power-assisted movement of said massive link in said first direction while said lightweight link moves unpowered in said second direction, said power-assisted motion of said massive link and unpowered motion of said lightweight link combining to move said outer end of said lightweight link in said arbitrary direction in which said manual programming force is applied, means to record the signals of said position transducers during manual programming, and means to reproduce said recorded position transducer signals and apply them to their respectively associated actuators to execute said programmed motions without manual assistance.