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Industrial robot with servo
| Details |
Inventors: Karlen, James P.; Thompson, Jr., Jack M.; Kowalski, Keith A.; Damico, David A.; Eismann, Paul H.;
Assignee: Robotics Research Corporation (OH)
Primary Examiner: Bucci; David A.
Assistant Examiner: Underwood; Donald W.
Attorney, Agent or Firm: Jones, Day, Reavis & Pogue
A digitally controlled industrial robot comprises a set of unitized and integrated joint drive modules which can be assembled in series to form an arm. The joints are of two basic types, pitch joints and roll joints, with the roll joints providing rotation about the longitudinal axis of the manipulator and the pitch joints providing rotation about axes which are substantially perpendicular to and offset from the roll joint axes. Any number of joints may be assembled to comprise the manipulator, permitting the configuration of a kinematically redundant manipulator. A servocontrol derives feedback from sensing the motive force on a driven member and compensates the drive signal accordingly. More particularly, the torque exerted on each roll and pitch joint is measured and used for feedback to provide stability and optimum bandwidth for the servomechanism. |
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DETAILED DESCRIPTION It is an object of the present invention to provide a manipulator with an arm geometry suitable for both general-purpose and a variety of special-purpose applications.
It is a related object to provide an easily servicable modular manipulator design with standardized interchangeable arm segments which may be combined in various ways to construct manipulators of various sizes and load capacities.
It is also a related object to provide a self-contained, durable manipulator capable of operating in crowded environments, harsh environments, and highly sanitized environments.
It is a further object of the present invention to provide a general-purpose manipulator with improved maneuverability, dexterity and repeatability.
More specifically, it is an object to provide a manipulator and controller which may be configured to operate with seven or more axes, undeterred by the control problems which are introduced by kinematic redundancy.
An allied object is to provide a manipulator with improved accuracy and repeatability.
In addition, it is also an object of the present invention to provide a manipulator and servocontrol which provide improved responsiveness of operation and smoothness of motion, enabling greater tool path speed and accuracy of movement.
Additional objects, advantages and novel features of the invention will be set forth in part in the description which follows, and in part will become apparent to those skilled in the art upon examination of the following, or may be learned by practice of the invention.
The objects and advantages of the invention may be realized by means of the devices and methods described in the claims.
To achieve the above objects, the manipulator of this invention comprises an electronic controller and a set of unitized and integrated joint drive modules which can be assembled in series to form an arm.
The manipulator is based upon an arm geometry design concept which enables the configuration of manipulators suitable to handle all general-purpose and special-purpose applications from three standardized joint types--roll, pitch, and transverse--assembled in different configurations
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