Method and apparatus for generating position or path control programs using force feedback
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United States of America Patent
Stats
-
Jul 14, 1981
Issued Date -
N/A
app pub date -
Jul 31, 1978
filing date -
Jul 26, 1976
priority date (Note) -
Expired
status (Latency Note)
Importance
Abstract
A program controlled workpiece manipulator has a load cell supported between the manipulator clamp and the positioning elements which generate signals proportional to the various components of the forces exerted on the workholder by external instrumentalities. To generate a desired control program for the manipulator the outputs of the load cell and of the position transducers for the manipulator drive servos are used to generate command signals for the drive servos which urge motion of the clamp to reduce the externally imposed forces. The clamp is then manually grasped and urged toward the desired motion and the outputs of the position sensors are recorded during the motion to create a control program which may be replaced to control the manipulator to duplicate the motion.
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Family
International Classification(s)
Cited Art Landscape
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