Showing papers on "Robot published in 1982"

Fast Nonlinear Control with Arbitrary Pole-Placement for Industrial Robots and Manipulators

Abstract: Models of industrial robots are characterized by highly nonlinear equations with nonlinear couplings between the variables of motion. In this paper, three nonlinear methods are presented, two of which are direct design procedures for industrial robots. These direct nonlinear methods are based on a suitable partition of the dynamic equation of the industrial robot and provide directly applicable, explicit control laws for each drive. The design procedures presented greatly simplify the derivation of the algorithm for computer-controlled industrial robots. The methods are applied to two different types of industrial robots.

Design and Implementation of a VLSI Tactile Sensing Computer

Abstract: A new type of tactile sensor is presented that was designed to give a robot manipulation system information about contact between its hand and objects in the environment. We describe a device that ...

A self-learning automaton with variable resolution for high precision assembly by industrial robots

Abstract: This paper reports on the use of the stochastic automaton theory to configure control algorithms for high precision assembly operations performed with a force-sensing robot. The basic principle of the stochastic automation, i.e., its variable structure, has been extended to the dimensionality of the automaton by gradually optimizing the resolution of the input variables.

Quaternions in Computer Vision and Robotics

Abstract: Computer vision and robotics suffer from not having good tools for manipulating three-dimensional objects. Vectors, coordinate geometry, and trigonometry all have deficiencies. Quaternions can be used to solve many of these problems. Many properties of quaternions that are relevant to computer vision and robotics are developed. Examples are given showing how quaternions can be used to simplify derivations in computer vision and robotics.

Robot control data processing apparatus

Abstract: A robot control data processing apparatus comprises a robot control data dividing processor for dividing robot control data adapted for monitoring and controlling robots into a plurality of operation elements and storing the robot control data in units each forming an operation element, and a robot control data editing processor for selectively combining and editing one or more of the plurality of the divisional operation elements. The robot control data is prepared by teaching the robots in operation and/or programming a robot oriented language.

Compliant robot arm adapter assembly

Abstract: A five axis compliant device for use as an industrial robot end-of-arm tooling. This device compensates for the inherent positioning and repeatability inaccuracies found in a robot and therefore allows the robot to be applied to work requiring high accuracies such as screw and nut insertion, close tolerance pin insertion and hole deburring.

Robotics and Human Factors: Current Status and Future Prospects:

Abstract: Robotics is a new technology domain that human factors scientists and practitioners should enter, to represent the human role in automation. Robots have varying functional capabilities, application...

Robot system with interchangeable hands

Abstract: A robot system comprising readily interchangeable hands. Usually the system will be controlled by a computer which will communicate with servo motors in each hand through an analog pulse width generator on the robot. The computer controller will also be able to utilize robot-associated circuitry to obtain information directly from each hand.

Device and method for determining the location and orientation of a drillhole

Abstract: A drillhole centerline determining interposer having a central cavity enables a robot to probe the interposer to learn the location and orientation of the desired drillhole. The interposer is a mushroom shaped device with a planar head and a stem dimensioned to fit snugly in the hole to be drilled. The interposer, in addition to the planar head from which the perpendicular can be calculated through multiple probes, has a central pocket concentric to the interposer stem. The method of using the drillhole centerline determining interposer is to place a number of such interposers manually in position in holes in a master part located in the work envelope of the robot. The robot operator prepositions the probe at an initial position facing the cavity of the interposer for a drillhole locating sequence for the related drillhole. In sequence, the robot moves the probe from the initial position sufficient to clear the edge of the cavity and by multiple probes determines the plane of the interposer surface platform. The robot then adjusts the yaw and pitch of the probe to orient the probe orthogonal to the platform plane (a vector parallel to the desired drillhole centerline axis). The robot, with orientation vector stored, now locates the XYZ coordinates of the drillhole by cavity probing actions determining the epicenter of the pocket. With orientation vector (pitch and yaw) known, and with coordinates (XYZ) known, the drillhole is determined.

General Purpose Hands for Bin-Picking Robots

Abstract: Bin-picking robots acquire a workpiece from a bin, reorient it, and place it into a machine. However, to achieve adaptability the system must incorporate general purpose hands capable of working with a wide variety of workpieces. To this end, eight guidelines for the design of general purpose hands for bin-picking robots have been identified on the basis of functional requirements. Using the eight guidelines as a framework, three hands were designed. The first design utilized a single vacuum cup which can sense contact, adapt to unknown surface angles, sense grip, and maintain a fixed hand-to-workpiece relationship. The second is a contour adapting vacuum gripper comprised of an array of 20 vacuum-gripping units which are capable of sensing discrete surface contour points while grasping. The third is a parallel jaw arrangement similar to those commonly found in industry, except that it has the capability of sensing overload and the presence of a workpiece within the hand. Each of the hands is described in terms of design features, control systems, and mode of operation. Advantages and disadvantages are indicated.

A framework for integrated assembly systems: humans, automation and robots

Abstract: Seeking to improve work design, this study examines the abilities and limitations of combined utilization of humans, automation, conveyors and robots. The comparison leads to the objective of this analysis, of enhancing the productivity of robots and automation while increasing work satisfaction and productivity for the humans. Towards the goal of achieving this objective, consideration is given to the development of a framework for the selection of the appropriate robot, machine and conveyor to complement the human in a work environment. A case study is used to illustrate the usefulness and efficiency of the proposed approach to systems optimization.

The Complete Robot

Abstract: The complete collection of Isaac Asimov's classic Robot stories. In these stories, Asimov creates the Three Laws of Robotics and ushers in the Robot Age - when Earth is ruled by master-machines and when robots are more human than mankind. The Complete Robot is the ultimate collection of timeless, amazing and amusing robot stories from the greatest science fiction writer of all time, offering golden insights into robot thought processes. Asimov's Three Laws of Robotics were programmed into real computers thirty years ago at the Massachusetts Institute of Technology - with suprising results. Readers of today still have many surprises in store...

Method and apparatus for modification of a prerecorded programmed sequence of motions during execution thereof by a robot

Abstract: A method and apparatus for real time editing, or modifying, of a program of prerecorded robot motions stored in a robot controlled memory while it is being processed by the controller for subsequent storage of the program, as edited, in memory and output to the robot for execution.

An overview of artificial intelligence and robotics. Volume 2: Robotics

Abstract: This report provides an overview of the rapidly changing field of robotics. The report incorporates definitions of the various types of robots, a summary of the basic concepts, utilized in each of the many technical areas, review of the state of the art and statistics of robot manufacture and usage. Particular attention is paid to the status of robot development, the organizations involved, their activities, and their funding.

Industrial robot control method

Abstract: An industrial robot control method for use in a system having a machine tool (MAC), a numerical control device (NCU) for controlling the machine tool, an industrial robot (RBT), and a robot control device (RCU) for controlling the industrial robot. In accordance with this industrial robot control method, a plurality of robot programs are stored beforehand in an internal memory (DMR) of the robot control device (RCU), and a plurality of NC programs are stored beforehand in an internal memory (DMN) of the numerical control device (NCU). The size or shape of a workpiece is sensed by a workpiece discriminating unit (WKD) to select the robot program conforming to the particular workpiece. An NC program number, corresponding to the robot program, is transmitted from the robot control device (RCU) to the numerical control device (NCU). The machine tool (MAC) is controlled in accordance with the NC program identified by NC program number, and the robot (RBT) is controlled based on the selected robot program.

Use of a multiprocessor for control of a robotic system

Abstract: In the case of complex industrial operations, the use of a multiprocessor for the control of a robotic system has a number of potential advantages over an employment of a single-processor design. In addition to the increased speed of parallel computation, multiprocessors can provide greater reliability. However, the control of a system with a multiprocessor is much more complicated, and requires resolution of a number of design criteria. The degree of coupling, the processor interconnection configuration, and the method of fault detection and correction are factors in the design of a multiprocessor which need to be considered for each particular application. In connection with the present investigation, a five-unit multiprocessor was built to experiment with the multiprocessor control of a robotic system. While the primary application of the multiprocessor involves the control of the Ohio State University (OSU) Hexapod, an 18-degree-of-freedom, motor-driven walking machine, the multiprocessor was designed to be versatile enough for a numbr of other uses.

Method and device for programming a robot, in particular paint spraying robot

Abstract: A method and a device for programming a track-controlled robot whose movement processes which are effected by control motors are controlled by electrical output signals of a programmable memory, at least one grip with sensors being attached to the robot during the programming process, which sensors, when subjected to stressing, output electrical signals which are transmitted on the one hand to the robot control motors as control signals and on the other hand into the robot memory as programming signals.

AML/V : An Industrial Machine Vision Programming System

Abstract: The use of robots rather than human workers to perform industrial tasks has a number of disadvantages. One is that parts and tools must be presented to the robot at ac curate positions and orientations. Another is that robots cannot do implicit in-process inspection the way people do. These two disadvantages can be reduced through the use of machine vision to determine the position, orienta tion, and even identity of parts and tools in the workspace and to look for qualitative and quantitative defects. This paper describes AML/V, an experimental hardware and software extension of an existing robot programming sys tem, intended for industrial machine vision programming.

Point measuring process for preset robot

Abstract: A process for controlling an industrial robot in which most data for controlling the robot can be supplied using a preset process without moving the robot and only data for regions in which very precise control is required need be prepared by actually moving the robot. A programming unit is provided separate from but connectable to a robot control unit. The programming unit is used to compile and transfer completed programs to the robot control unit for controlling the movements of the robot. To program the robot control unit, the programming unit and robot control unit are connected as an on-line system. Then, data describing a desired path of movement is inputted to the programming unit as a series of coordinates in Cartesian form. In regions where very precise control is required, the coordinates describing the desired path of movement are corrected using small corrective motions of the robot. The inputted data and the corrected coordinates are displayed.

Space applications of Automation, Robotics and Machine Intelligence Systems (ARAMIS). Volume 3: ARAMIS overview

Abstract: An overview of automation, robotics, and machine intelligence systems (ARAMIS) is provided. Man machine interfaces, classification, and capabilities are considered.