G - Physics – 05 – D
Patent
G - Physics
05
D
341/100
G05D 3/00 (2006.01) B25J 9/00 (2006.01) G05B 19/423 (2006.01)
Patent
CA 1080828
ABSTRACT OF THE DISCLOSURE 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 manipulator to duplicate the motion.
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