Showing papers on "Robot published in 1981"

Robot manipulators : mathematics, programming, and control : the computer control of robot manipulators

Abstract: "Richard Paul is perhaps the world's leading authority on the science of robot manipulation. He has contributed to almost every aspect of the field. His impressive publication record includes important articles on the kinematics of robot arms, their dynamics, and their control. He has developed a succession of interesting ideas concerning representation, specifically the use of homogeneous matrices.... Paul's book is written in his usual clear style, and it contains numerous interesting examples."--Patrick H. Winston and Mike Brady, editors, The MIT Press Artificial Intelligence Series"Robot Manipulators" is firmly grounded on the theoretical principles of the subject and makes considerable use of vector and matrix methods in its development. It is the first full treatment to be published, and it is designed for graduate courses in robotics as well as for practicing engineers. Following an introduction, the book's ten chapters cover homogeneous transformations, defining transformation equations, solving transformation equations, differential transformation relationships, motion trajectories, dynamics, digital servo systems, force transformations, compliance, and manipulation languages.Paul writes that the impact of robot manipulators on the workplace and the economy over the coming decade could be profound: "While currently available industrial robots will probably not have a major impact on manufacturing, a low-cost, mass-produced, sensor-controlled robot could have a revolutionary effect.... Such robots would represent the conclusion of the industrial revolution, replacing the type of labor required at its outset to perform the repetitive machine-linked tasks whose ideal performance is characterized by our conception of a robot, not a human. Based on current research work, laboratory demonstrations, and the general level of technology in this country, we believe that it is possible to achieve such a robot within the coming decade."

Robot computer chess game

Abstract: The computer robot arm chess game assembly is provided with a chess board, magnetized chess pieces, auxiliary parking locations for the chess pieces, and an articulated radially moving robot arm. The robot arm can perform all the functions of an opponent including setting up the chess board, captures, promotions, castling, etc. The chess board and parking locations include magnetic members to not only activate resilient switches but further to spatially position the chess pieces for accurate location to assist the robot arm. Among the other interesting features, the robot arm can show emotional characteristics which can be accompanied by appropriate sounds and lights contemporaneous with a significant occurrence during the progress of the chess game.

An emulation system for programmable sensory robots

Abstract: This paper describes EMULA, an experimental interactive system for the emulation of sensory robots. EMULA was constructed as a bridge between an existing language for driving actual robots and an existing geometric modeling system. The modeling system was extended to handle mechanisms, such as robots, and an emulation language was introduced to indicate certain specifiic physical effects, including sensory feedback, grasping and releasing of parts, and gravity. EMULA allows manipulation programs to be tested by users in interactive terminal sessions or in batch mode. Monitoring functions are provided to record actions, store selected views, and check for collisions.

Simplified robot arm dynamics for control

Abstract: A brief summary and evaluation is presented on the use of symbolic state equation techniques in order to rapresent robot arm dynamics with sufficient accuracy for controlling arm motion. The use of homogeneous transformations and the Lagrangian formulation of mechanics offers a convenient frame for the derivation, analysis and simplification of complex robot dynamics equations. It is pointed out that simplified state equations can represent robot arm dynamics with good accuracy.

Toy robot vehicle assembly

Abstract: The present invention includes three vehicles that can operate independently as toys or alternatively can be reconfigured to simulate a robot.

Apparatus for calibrating link position transducers of a teaching robot and a work robot

Abstract: A calibration fixture is disclosed for calibrating the link position transducer output signals of a teaching robot and a work robot such that when the links thereof occupy the same identical spatial position and orientation, the magnitudes of the corresponding link position transducer outputs of the work and teaching robots will be the same.

System for evaluating the capability of a work-performing robot to reproduce a programmed series of motions

Abstract: A system for evaluating whether a work-performing robot can perform a series of programmed motions is disclosed which includes means for continuously comparing the velocity of the various links of a robot simulator, which is manually moved through the sequence of motions to be programmed, against predetermined velocity limits associated with the corresponding links of the work-performing robot which will reproduce the programmed steps, and providing humanly perceptible alarm indications uniquely identifiable with the various robot links when the motions manually programmed on the robot simulator exceed the velocity limits of the work-performing robot. Additionally, the individual velocities of the various robot simulator links are summed, and the sum continuously compared against the power limit of the hydraulic pump driving the link actuators of the work-performing robot. Should the aggregate velocity of the robot simulator links exceed the power capability of the hydraulic pump, that is, the pump capacity, an alarm indication is provided. In spray coating robot applications, the alarm indications occasioned by excessive link velocities, as well as excessive demands on the hydraulic pump, are recorded along with information indicating whether or not during a particular alarm condition the spray gun was ON or OFF. This record enables the manually programmed motion sequence to be evaluated to determine whether or not the alarm conditions which occurred during programming can be safely ignored and the program used to operate the work-performing robot.

Marking parts to aid robot vision

Abstract: The premarking of parts for subsequent identification by a robot vision system appears to be beneficial as an aid in the automation of certain tasks such as construction in space. A simple, color coded marking system is presented which allows a computer vision system to locate an object, calculate its orientation, and determine its identity. Such a system has the potential to operate accurately, and because the computer shape analysis problem has been simplified, it has the ability to operate in real time.

Self-teaching robot feedback system

Abstract: A self-teaching RCC device robot feedback system including: a robot mechanism; an RCC device carried by the robot mechanism; a robot driver unit for directing motion of the RCC device in an environment; means for determining the displacement of an RCC device with respect to the robot; and an adaptive learning system, responsive to the means for determining displacement, for detecting a pattern of displacements of the RCC device relative to its environment and generating commands to the robot driver unit to direct motion of the RCC device

Tactile sensation for robots

Abstract: In this paper we provide a brief discussion of the relationship of tactile sensation to other sensory modalities currently showing prominence in industrial robots. A tactile sensor is presented which provides a matrix of the forces existing between it and the object with which it is in contact. The possible uses of this information in the control of the manipulation of objects by a robot arm/hand system are considered. Examples of the data retrieved from the sensor are given and possible initial processing steps are discussed.

Method and apparatus for analyzing the feasibility of performing a programmed sequence of motions with a robot

Abstract: An apparatus and method for determining the feasibility of performing a programmed sequence of motions with a robot. Included is a work robot at a first location having a plurality of power-driven, signal-controlled, relatively massive links interconnected to permit relative motion in plural degrees of freedom, the work robot having a given mechanical response characteristic. Associated with each link of the work robot is a position transducer which generates a signal representative of the actual position of its associated work robot link. Also included is a portable, relatively lightweight, manually manipulable simulator robot located remote from the work robot. The simulator robot has a plurality of different interconnected links adapted for manual movement in different degrees of freedom for setting a program of desired mechanical responses, with the links and degrees of freedom of the simulator robot simulating those of the work robot. Associated with each link of the simulator robot is a position transducer for generating a signal representative of the position of its associated simulator robot link. A signal recorder is provided at the location of the simulator robot for storing the position signals representative of the program of desired mechanical responses imparted to it by the operator. A work robot controller is provided at the site of the work robot which is responsive to the stored position signals for manipulating the work robot links to perform the movements corresponding to the program of desired mechanical responses limited only by the given mechanical response characteristic of the work robot. An analyzer responsive to the actual and desired position signals of the work robot links is provided for generating error signals correlated to the extent to which the work robot is capable of performing the program of desired mechanical responses manually imparted to the simulator robot. An indicator responsive to the analyzer provides a humanly perceptible indication of the feasibility.

Assembling or processing system

Abstract: A system for automatically assembling or processing a large variety of parts of different weights. The system has a first industrial robot (31) whose end having at least three degrees of freedom for movement in horizontal and vertical planes, and a second industrial robot (33) whose end having at least three degrees of freedom for movement in horizontal and vertical planes. The first and second industrial robots are connected to each other by connecting means which carries a sensor (113) adapted to sense the difference of vertical position between the connecting ends of the first and second industrial robots. The operation of the first and second industrial robots is under the control of a controller. The first industrial robot is operated by an instruction given by the controller, while the second industrial robot is operated to follow-up the movement of the first industrial robot, in accordance with the signal derived from the sensor.

Robot tool system

Abstract: A means for automatically replacing tool means on a robot arm comprising a novel automatically releasable tool means, comprising electrical control conduits communicating with said robot and, in proper circumstance, with a tool rack to signal its position and condition on said rack.

A locomotion control system for mobile robots

Abstract: This paper discusses how to control and describe the smooth movement of a mobile robot which has two independent driving wheels (iDWs) that perform both steering and moving functions. Robots which have an IDW leg system can move to any point by using any combinations of two basic operations: revolving and going straight. It is easy to describe movement with two basic operations only, but this may not be sufficient to guarantee smooth motion. For instance, when the robot is moving, a slight modification to its track direction is impossible without stopping it. Smooth motions are also needed for minimizing the time required to complete the movement. Theoretically, an IDW leg system can draw a circular track with radius 0 - ≪ if one controls the ratio of the two wheel speeds. This principle underlies much of the design of this control system. The control system described in this paper uses three basic motion commands, supplemented by other commands that support these. A language has been designed for describing leg control algorithms. Examples of the usage of these commands and the language are shown here.

Industrial robot system

Abstract: In order to attain a more suitable control of a robot unit which serves a machine tool in accordance with various conditions of the operations of the machine tool and the robot unit, the number of the kinds of signals produced in the machine tool is increased and a predetermined control of the robot unit is attained in response to each of the increased kinds of signals.

The flexible parts feeder which helps a robot assemble automatically

Abstract: A flexible part feeding systems has been developed in conjunction with a six‐axis robot and vision to assemble 13 components into a portable tape recorder.

Method and apparatus for calibrating a robot

Abstract: A method and apparatus for calibrating a robot (10) and using the results of this calibration to compensate for inaccuracies of the robot and also to diagnose robot deterioration. The method includes moving the robot to a set of nominal positions, commanded by a robot controller (16) and measured by position encoders (12) built into the robot, and determining the associated actual positions by measuring the robot position by aligning the robot end effector with an accurate calibration mask (14). The calibration results are stored in an error memory (28) and subsequently used to compensate for robot inaccuracy so that the robot moves to a desired position.

Dynamic Continuous Path Synthesis of Industrial Robots Using ADAMS Computer Program

Abstract: The ADAMS (A utomatic D ynamic A nalysis of M echanical S ystems) [3] is used to determine the laws of motion for the actuators of industrial robots when a continuous path and orientation for the gripper is prescribed. Simultaneously the dynamic loads in the system are determined. The results for a six degrees of freedom robot are described in animated form. The three-dimenional frames used in animation are colored and are completely computer generated.