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Browse Prior Art Database

Self-Teaching Robotic System

IP.com Disclosure Number: IPCOM000120156D
Original Publication Date: 1991-Mar-01
Included in the Prior Art Database: 2005-Apr-02
Document File: 2 page(s) / 57K

Publishing Venue

IBM

Related People

Colson, JC: AUTHOR [+3]

Abstract

Disclosed is a robot system of hardware and software that automatically adjusts 'rough' application points to actual physical workspace locations. Software moves the robot end effector to each rough location and then uses force feedback information to register itself to the actual location required.

This text was extracted from an ASCII text file.
This is the abbreviated version, containing approximately 75% of the total text.

Self-Teaching Robotic System

      Disclosed is a robot system of hardware and software that
automatically adjusts 'rough' application points to actual physical
workspace locations. Software moves the robot end effector to each
rough location and then uses force feedback information to register
itself to the actual location required.

      The system hardware consists of a robot with 6 axis force
sensors and a tapered, feature specific teaching tool. The software
consists of a main application module - (see the flow chart on the
following page), a module for moving the robot to relieve any side
loads (ZERO FORCES) and a module that uses force feedback to center
the tool in the feature (CENTER XY).

      The process is begun by generating rough application locations
either through use of a CAD/CAM system or by moving the manipulator
in space by hand. These points need only be close enough to get the
tool started in the feature. Having generated all the required
application points, the software is started. The robot command module
reads in the first rough location, then moves the manipulator arm
over that point and sends the tool down slowly into the feature.
During the Z down motion, if the force sensor detects a side load
contact, the ZERO FORCES module resolves the sensed forces into robot
coordinate frame components, calculates an offset based on the
magnitude of the force and moves the arm to eliminate the contact.
This process continues until a preset pure...