Industrial robot
US4904152A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Feb 23, 1989 |
| Grant date | Feb 27, 1990 |
| Priority date | — |
| Expiry date | Feb 23, 2009 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S414/13
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
In an industrial robot including a control apparatus capable of executing control of the robot in a position control mode, a velocity control mode and a current control mode. The control apparatus includes a changeover section (20) for executing changeover between the position control mode and the current control mode. The position of an object is sensed by driving a set of arms of the robot in a force control mode which is a combination of the velocity control mode and the current control mode, and detecting the position at which the arms contact an object and are halted. Detection of the halted condition is performed based on a condition of an output signal produced from a position sensor (13), and by repetitively performing such detection for a plurality of different points on the body surface, a plurality of position values are derived which are compared with reference position data. Any change of the position of the object from a reference position is thereby computed by a computation section (24), whereby the robot itself is capable of sensing the position or attitude of an object, in 2 dimensions or 3 dimensions.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.