초록 ▼

A robotic arm and control system comprising a multi-axis, open-loop system of coupled structural members, wherein each structural member is pivotably coupled to one another to form a number of joints, wherein position calibration is provided by way of position sensors disposed at each joint, and con

A robotic arm and control system comprising a multi-axis, open-loop system of coupled structural members, wherein each structural member is pivotably coupled to one another to form a number of joints, wherein position calibration is provided by way of position sensors disposed at each joint, and controls for manipulating each joint in a predetermined manner and for monitoring the output of each position sensor, the controls first causing all structural members to move with respect to one another so that each position sensor outputs a home signal, the controls then manipulating each structural member in a predetermined sequence until each structural member is caused to be within a predetermined distance from its home position.

대표청구항 ▼

In an open-loop system of structural members, wherein each structural member is linked for relative pivotable movement with another of the structural members at a different one of a plurality of joints, and further wherein at least two of the structural members are intercoupled such that the movemen

In an open-loop system of structural members, wherein each structural member is linked for relative pivotable movement with another of the structural members at a different one of a plurality of joints, and further wherein at least two of the structural members are intercoupled such that the movement of one of the intercoupled structural members about a joint results in movement of the other intercoupled structural member about a different joint, an apparatus responsive to a homing command for position-calibrating the structural members with respect to a predetermined home position for each joint, comprising a plurality of home position means, each of which is associated with a different joint, each for providing positional information about the particular structural members coupled at the associated joint, said positional information including an indication of the direction of the predetermined home position for that joint from the current position of the particular structural members, and a home signal when the particular structural members are in the predetermined home position; and control means responsive to the home signal and to the direction indication from each home position sensor means for modifying the position of all structural members in parallel in the direction of their associated predetermined home position until all position sensing means have generated a home signal, wherein the control means reverses the direction or movement of any particular structural member whenever the associated home sensor means for the particular structural member indicates a transition from one side of its associated predetermined home position to the other, so that the position of the particular structural member is caused to vary about its associated predetermined home position until all other home position sensor means have generated a home signal and wherein the control means include means operative after all position sensing means have generated a home signal for modifying the position of each structural member, one at a time, in a predetermined order and by predetermined positional increments so that each of the structural members is caused to be moved to within a predetermined distance from its home position.