Dynamic position tracking and control of robots
US5838882A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Oct 31, 1996 |
| Grant date | Nov 17, 1998 |
| Priority date | — |
| Expiry date | Oct 31, 2016 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J9/1694
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A robot and associated control system, as well as a method of control, for servicing a heat exchanger having a substantially planar tube sheet which defines a multiplicity of laterally spaced tube openings of known shape, each of which is centered at a coordinate on a tube sheet coordinate system. A sensory system associated with the robot end effector and the associated digital processing system, includes a vision subsystem for generating an image of a portion of the tube sheet and generating a first signal commensurate with the spatial relationship of the tool to a selected tube opening. An optical subsystem is also provided, for projecting a structured light beam toward the tube sheet and receiving a reflected structured light pattern, indicative of how closely the tool is aligned with the target opening. The end effector also includes transducers responsive to at least one of force and torque acting on the end effector, resulting from partial entry of the tool, or a tool proxy such as a guide, into a tube opening. The sensing of the reflected light pattern, and the sensing of the force and/or torque, result in the generation of second and third signals, respectively which, alon…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.