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Motion Teaching Device for Compliance Controlled Manipulators

IP.com Disclosure Number: IPCOM000101016D
Original Publication Date: 1990-Jun-01
Included in the Prior Art Database: 2005-Mar-16
Document File: 2 page(s) / 53K

Publishing Venue

IBM

Related People

Ishikawa, H: AUTHOR [+4]

Abstract

A device is described in which a compliant motion can be easily programmed by sensing the force applied by the hands of a motion teacher and the force applied from the environment. The device is attached between an end-effector and a flange at the wrist of the manipulator, and consists of two sets of six degrees-of-freedom force sensors.

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Motion Teaching Device for Compliance Controlled Manipulators

       A device is described in which a compliant motion can be
easily programmed by sensing the force applied by the hands of a
motion teacher and the force applied from the environment.  The
device is attached between an end-effector and a flange at the wrist
of the manipulator, and consists of two sets of six
degrees-of-freedom force sensors.

      The teaching device described here consists of two force
sensors, as shown in Fig. 1.  One sensor 1 detects the force which is
applied by the hand of a teacher, and the other sensor 2 detects the
force which is applied from the environment through the tip of its
hand.  These data are sampled at the same time, and also the position
data of the manipulator can be sampled at the same time by the use of
the sensing system built into the manipulator.

      A block diagram of the data processing is shown in Fig. 2.  The
trajectory generator interprets the data of force applied by the
teacher 1, and generates motion command 2 in order to move the
end-effector of the manipulator in the direction to which the force
from the teacher directs. Furthermore, the trajectory generator
monitors the data of force applied from the environment 3, and if it
senses that the tip of the end-effector is in contact with the
environment, it generates the trajectory according to the synthesized
force.

      Through this process, the motion program generator of the
compl...