Two-Arm Manipulator With Up to Fourteen Degrees of Freedom
Original Publication Date: 1987-Nov-01
Included in the Prior Art Database: 2005-Feb-02
A technique is described whereby enhancements are made to the IBM 7565 Robotics System by adding a second manipulator arm in the 7565 box frame. This added arm shares the existing "Y"-axis rails and provides a second "X"-axis which supports a second "Z"-axis and 4-axis gimbal. A single modified controller is provided to drive the two manipulator arms, so as to provide the robotics system with up to fourteen degrees of freedom, seven degrees for each arm. In the prior art, the addition of a second manipulator arm would require the addition of a second "Y"-axis feedback transducer and control box, as well as transducers for the added "X" and "Z" axes, for a total of six individual control boxes and six feedback transducer signal carrier rods.