Showing papers on "Robot published in 1978"

Cooperative drive robot

Abstract: A robot arrangement adapted to carry a load such as an article, a tool or a cargo to a specified position includes a main robot capable of active movement of the load in rectilinear directions and passive movement in directions parallel to a plane perpendicular to the rectilinear directions, and at least one sub robot capable of active movement of the load in directions parallel to the plane. A flexible connection allows passive movement of the load with respect to the sub robot in the rectilinear directions.

Error recovery in robots through failure reason analysis.

Abstract: In performing a task, a robot may encounter a variety of unforeseen circumstances which prevent successful completion of the task. Even simple actions, such as reaching out to grasp a rock, cannot be guaranteed to succeed without dynamic sensory feedback such as visual monitoring. For example, the hand may bump into the rock because of manipulation errors or because of erroneous information about the location of the rock. Failures such as these occur because sensors and effectors are inaccurate, and because the world in which the robot operates cannot be characterized exactly. Our goal is to design a robot that can recover gracefully and intelligently from failures that occur during the execution of tasks in a static world with no other agents of change. The technique for recovery planning discussed in this paper is based on knowledge about failures-why they occur, what can be done about them, etc. This knowledge is used to determine the cause of a failure and to devise a recovery plan. Similarities and differences between this and other approaches are discussed in a subsequent section. A computer program called MEND has been implemented for exploring the above concepts. Though MEND only autQmates recovery from failures in simple manipulation tasks that are performed by the JPL robot,8,9,17-19 the techniques used in MEND are more widely applicable.

Recognition system for class II robots

Abstract: A recognition system for robots is responsive to encoded information from a plurality of sources for enabling a robot to recognize and identify the sources. A receiver located on the robot detects incoming signals and decodes them. The decoded signal is compared with information stored in the robot memory to provide source identification. A direction determining sub-system incorporated into the receiver provides source direction information. The system may utilize either digital or analog techniques.

A time and motion method for industrial robots

Abstract: As competition grows in the robot field and as more sophisticated applications emerge, it has become necessary to accurately predict robot cycle time. Especially in the area of robot assembly applications, it is necessary to estimate times to balance multi‐arm systems and to economically compare robot assembly systems to alternate methods. Using the Unimate 6000 robot system as a model and manual time methods as a guide, a robot time and motion method is developed. Three time estimating methods are discussed starting with a simple, approximate one and finishing with a detailed, accurate one. All three methods can be adapted for use with applications other than assembly and will be further evaluated in the future with other robot systems.

Method and apparatus for controlling position and attitude of hand for industrial robot

Abstract: PURPOSE:To control the hand of an industrial robot at any position and attitude by separating variables regarding the operations of the arms and hands of the robot into two seta of simultaneous equations of the variables under position control and attitude control and by obtaining the solutions from the equations.

New luster for space robots and automation

Abstract: Consideration is given to the potential role of robotics and automation in space transportation systems. Automation development requirements are defined for projects in space exploration, global services, space utilization, and space transport. In each category the potential automation of ground operations, on-board spacecraft operations, and in-space handling is noted. The major developments of space robot technology are noted for the 1967-1978 period. Economic aspects of ground-operation, ground command, and mission operations are noted.

Design of a three fingered robot gripper

Abstract: Using an industrial assembly robot to manipulate objects of significantly differing shapes is practically impossible without a universal prehension organ. Robot grippers of great simplicity and dependability are too specific to one particular geometry, whereas existing, complicated grippers, though more universal in nature, are, with only several exceptions, not designed for use in industrial surroundings, being products of prosthetics research or Artificial Intelligence programs Required gripping modes for multiple‐prehension grippers and resulting design constraints are discussed. A computerized optimisation technique for determining applicability of straight‐line‐producing four‐bar linkages is explained. A multiple‐prehension, three‐fingered gripper is proposed that, while being relatively robust, allows reliable gripping of many forms commonly found in light assembly operations.

Robots quietly take their places alongside humans on the production line to raise productivity ¿ and do the `dirty work¿

Abstract: Two important features of robots-versatility and the ability to learn are discussed. The suitability of robots in a wide range of industrial processes is illustrated with several examples, emphasising the unique role of robots in improving productivity in machine-tool loading and unloading. Future trends of robots and the impact of robotics on industrialised nations are discussed.

Device for driving arm of industrial robot

Abstract: PURPOSE:To drive the working point in a similar form to its drive in an industrial robot by providing four arms connected to a parallelogramic linkage with two drive points on the extension or intermediate of the arm of the robot

Device for controlling industrial robot

Abstract: PURPOSE:To providea highly safe device for controlling an industrial robot which can check whether or not the present position of the robot is in the vicinity of the starting point of the work prior to the automatic opeation of the robot operating in regeneration in automatic control of the content stroed in advance.

The Role of Robots and Automation in Space

Abstract: Advanced space transportation systems based on the Shuttle and Interim Upper Stage will open the way to the use of large-scale industrial and commercial systems in space. The role of robot and automation technology in the cost-effective implementation and operation of such systems in the next two decades is discussed. Planning studies initiated by NASA are described as applied to space exploration, global services, and space industrialization, and a forecast of potential missions in each category is presented. The Appendix lists highlights of space robot technology from 1967 to the present.

Robots on your doorstep (a book about thinking machines)

Abstract: Excellent condition inside of paperback book (seems like never been used); pages are clean; binding is tight; light wear But not the longer term robotics, effort with his book. Increasingly to operate when he felt that the side of design. There was more of the worlds, greatest job bruno will go about. Weight the way around the, real world. The company soon afterwards perhaps this, system is the first.

Playyback type industrial robot

Abstract: PURPOSE:To accelerate the teaching speed of a play-back industrial robot by remotely operating the robot body with similar movable members connected to each other in response to the members.

Almost a decade of industrial robots‐Experience from practical applications

Abstract: In this report, accounts will be presented on the experience obtained from approximately 100 practical applications of industrial robots. The industrial robots used derive partly from the company's own production as well as from other domestic and foreign robot manufacturers.

Device for controlling industrial robot

Abstract: PURPOSE:To improve the various operating characteristics of an industrial robot by preventing the working shafts of the robot from vibrating by correcting the drive signal based on the deviation of the command and present values by feeding back the operating force of the working shaft by a hydraulic cylinder through a compensating circuit.

Robotics and Society

Abstract: After discussing the state of the art in the field of robotics, the author presents some aspects of the economics of robots. The paper then proceeds with a detailed study of the societal impact of robots and stresses the social advantages of their use.

Arrangement for wrist of industrial robot

Abstract: PURPOSE:To provide an arrangement for wrist of an industrial robot, in which a wrist of robot is made to have perfect three degrees of freedom in continuous manner, and diameter of the wrist is made small to attain a compact structure of robot as a whole, whereby it is enabled to perform complicated operation even in a restricted space.

Multiiaxes positioning control method in industrial robot

Abstract: PURPOSE:To reduce the loads of a central processing unit, by accurately positioning a robot by requiring offering to the central processing unit, when the positioning of each shaft reaches near target values.

Development of arc welding robot for shipbuilding (no. i report)

Abstract: This arc welding robot is developed, as the first step, for the purpose of automatic horizontal and vertical fillet welding of large steel structures like sub-assembly for shipbuilding. Its characteristics are as follows: 1) It has a hand which acts as a welding torch, suspended on a travelling gantry type structure and can control seven axes simultaneously. 2) The starting and ending points of each welding line are detected, and filler-aiming point on welding line is corrected by means of optical data obtained through an image sensor camera. 3) Instruction to the robot is given by a dialogue mode, utilizing a character display working interactively. 4) With one mini-computer (senior computer), the robots up to four can be controlled as a group. 5) Input data of the robot can be generated by the information concerning the data base of hull structure design and a dialogue mode using a graphic display. Through welding experiments with the robot developed, the authors have found bright prospects to apply it to practical uses. So, as the second steps, they are now developing a robot that has two hands and can do fillet welding on both sides at same time to improve sensing function and welding efficiency.

Industrial Robot Today—Structure and Application

Abstract: The authors first describe the state of technology in the various subsystems and then the possible applications of robots. Optical and tactile sensors are demonstrated. The paper then surveys the industrial situation in Europe as regards the use of robots. Some future trends are discussed with regard to economic, social and technological aspects.

Degital control device industrial robot

Abstract: PURPOSE:To move a robot at constant speed by varying a control target signal in lamp shape by a counter.

Material-handling robots for programmable automation

Abstract: This paper deals with the requirements, present development, and research issues concerning advanced material-handling systems based on programmable manipulators that are commonly called industrial robots. Industrial robots are becoming increasingly important as part of programmable automation systems being developed for the production of batch-produced discrete part goods. As contrasted with hard or fixed automation, programmable systems are designed for flexibility, that is, for ease of set-up for new or changing products in small or variable lot sizes, and adaptively responsive to a variable environment. Material handling entails the controlled manipulation of raw materials, workpieces, assemblies and finished products. Together with inspection and assembly, these functions represent essential parts of the total manufacturing process that are still highly labor-intensive. The great majority of present industrial robots (first generation) are performing relatively simple repetitive material handling tasks in highly constrained or structured environments. They are also increasingly used in spot-welding and paint-spraying operations. Second generation robots which incorporate computer processors or minicomputers have begun to appear in factories, considerably extending rudimentary pick-and-place operations. More advanced robots are being developed which incorporate visual and tactile sensing, all under computer control. These integrated systems begin to emulate human capabilities in coping with relatively unstructured environments. There are two major requirements for advanced material handling systems. The first requirement is for a programmed robot to be able to acquire randomly-positioned and unoriented workpieces, subassemblies or assemblies from stationery bins or from moving conveyors, in a predetermined manner, and to convey them via a predetermined path, safely, to some desired position and orientation. The second requirement is for the robots to be able to place the acquired workpiece or assembly with a desired orientation in a position with a specified precision. These two requirements share the need for sensor-controlled manipulation to varying degrees. Tactile sensing may be sufficient for a simple task in which the workpieces are already oriented and require crude end-positioning at the destination such as in a palletizing operation. Visual sensing may be required when the workpieces are unoriented originally, are in motion, or when the final position is not precisely determined. In some instances, both tactile and visual sensing would be the most effective method, as when packing an unoriented container with workpieces in a desired order. Finally, in automated assembly processes, visual and/or tactile sensing may be required to bring parts together in fitting operations, or for insertions of shafts or bolts in holes. In the latter cases, the precision requirements for a passive accomodation system, together with the completeness of jigging or fixturing would govern how much sensor control was necessary. The major issues thus are the relative costs of orienting parts, of fixturing to preserve position and orientation, of high-performance robots (speed and precision) and on the trade-off attainable by the use of sensor control to reduce the cost of the other alternatives.