Ultrasonic apparatus for positioning a robot hand
US4821206A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | Oct 23, 1987 |
| Grant date | Apr 11, 1989 |
| Priority date | — |
| Expiry date | Oct 23, 2007 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/45083
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A robot positioning apparatus for use with robot devices having a movable portion, wherein the movable portion may be spatially oriented to, and controllably spaced from, a reference surface. Initial locating of the reference surface is accomplished by an approximate positioning subsystem using multiple, angularly oriented units which send and receive acoustic orientation positioning signals in search of the reference surface. Once a return signal is received, switching logic indentifies the necessary reorienting of the movable portion to achieve approximately the proper facing relationship of the movable portion to the surface. For precise positioning and ranging after the facing relation is established, a precision positioning subsystem emits an acoustic signal toward the surface, and a response signal is received back from the surface by at least two, and preferably three, receivers mounted upon the movable portion of the robot device. A comparator compares the times of flight of the signals received by the receivers on a pair-wise basis, thereby determining the relative distance of the pair of receivers from the surface, which in turn is a direct indication of the spatial orien…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.