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公开(公告)号：AU4813985A
公开(公告)日：1986-04-10
申请号：AU4813985
申请日：1985-09-27
Applicant: FUJITSU LTD
Inventor： ASAKAWA KAZUO , ONDA NOBUHIKO , AKITA TADASHI , KAMADA TORU
Abstract: Apparatus (30) for detecting an external force applied to, for example, a robot hand, comprising an elastic member (A,B) deformable symmetrically with respect to the center (D), a first displacement-detecting means (40a,40b) for detecting displacements of the elastic member at positions symmetric with respect to the center in one direction, and a second displacement-detecting means (40e,40f) for detecting displacements of the elastic member at positions symmetric with respect to the center in the other directions.
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公开(公告)号：NO172314C
公开(公告)日：1993-06-30
申请号：NO850927
申请日：1985-03-08
Applicant: FUJITSU LTD
Inventor： ONDA NOBUHIKO , ASAKAWA KAZUO , AKITA TADASHI , KOMORIYA HITOSHI , KAMADA TORU
IPC: G05B19/42 , B25J9/18 , G05B19/423
Abstract: The robot (1) comprises a hand (4), a force sensor (5), an X-axis base (6), a Z-axis base (7) and a Y-axis base (8). A control circuit for the robot includes a memory unit (11) for storing teaching and other data, and a microprocessor (12) which reads out the teaching data from the memory, generates a motion route command for the hand, sends motion route data to a position control unit (13), and sends open and close commands to the hand via a hand open close unit (17). The microprocessor also generates teaching data in response to hand positions detected by a hand position detection unit (14) and stores the teaching data in the memory. A position control unit (13) feeds out a plurality of pulses (Vx, Vy, and Vz) which are converted from displacement values for each axis, in response to the motion route command sent from the microprocessor, to control the position or speed of the hand. A hand position detection unit (14) receives signals (Px, Py, and Pz) generated from the drive sources for the three axes for detecting the current position of the hand. A force control unit generates a control command based on the outputs (Ma to Mf) from the force sensor, and generates follow-up displacement values (PFx, PFy, and PFz). An arm drive unit (16) operates each drive source on the basis of displacement values from the position control unit and the follow-up displacement values from the force control unit.
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公开(公告)号：DE3584462D1
公开(公告)日：1991-11-28
申请号：DE3584462
申请日：1985-03-08
Applicant: FUJITSU LTD
Inventor： ONDA NOBUHIKO , ASAKAWA KAZUO , AKITA TADASHI , KOMORIYA HITOSHI , KAMADA TORU
IPC: G05B19/42 , B25J9/18 , G05B19/423
Abstract: The robot (1) comprises a hand (4), a force sensor (5), an X-axis base (6), a Z-axis base (7) and a Y-axis base (8). A control circuit for the robot includes a memory unit (11) for storing teaching and other data, and a microprocessor (12) which reads out the teaching data from the memory, generates a motion route command for the hand, sends motion route data to a position control unit (13), and sends open and close commands to the hand via a hand open close unit (17). The microprocessor also generates teaching data in response to hand positions detected by a hand position detection unit (14) and stores the teaching data in the memory. A position control unit (13) feeds out a plurality of pulses (Vx, Vy, and Vz) which are converted from displacement values for each axis, in response to the motion route command sent from the microprocessor, to control the position or speed of the hand. A hand position detection unit (14) receives signals (Px, Py, and Pz) generated from the drive sources for the three axes for detecting the current position of the hand. A force control unit generates a control command based on the outputs (Ma to Mf) from the force sensor, and generates follow-up displacement values (PFx, PFy, and PFz). An arm drive unit (16) operates each drive source on the basis of displacement values from the position control unit and the follow-up displacement values from the force control unit.
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公开(公告)号：AU564927B2
公开(公告)日：1987-09-03
申请号：AU4813985
申请日：1985-09-27
Applicant: FUJITSU LTD
Inventor： ASAKAWA KAZUO , ONDA NOBUHIKO , AKITA TADASHI , KAMADA TORU
Abstract: Apparatus (30) for detecting an external force applied to, for example, a robot hand, comprising an elastic member (A,B) deformable symmetrically with respect to the center (D), a first displacement-detecting means (40a,40b) for detecting displacements of the elastic member at positions symmetric with respect to the center in one direction, and a second displacement-detecting means (40e,40f) for detecting displacements of the elastic member at positions symmetric with respect to the center in the other directions.
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公开(公告)号：NO172314B
公开(公告)日：1993-03-22
申请号：NO850927
申请日：1985-03-08
Applicant: FUJITSU LTD
Inventor： ONDA NOBUHIKO , ASAKAWA KAZUO , AKITA TADASHI , KOMORIYA HITOSHI , KAMADA TORU
IPC: G05B19/42 , B25J9/18 , G05B19/423
Abstract: The robot (1) comprises a hand (4), a force sensor (5), an X-axis base (6), a Z-axis base (7) and a Y-axis base (8). A control circuit for the robot includes a memory unit (11) for storing teaching and other data, and a microprocessor (12) which reads out the teaching data from the memory, generates a motion route command for the hand, sends motion route data to a position control unit (13), and sends open and close commands to the hand via a hand open close unit (17). The microprocessor also generates teaching data in response to hand positions detected by a hand position detection unit (14) and stores the teaching data in the memory. A position control unit (13) feeds out a plurality of pulses (Vx, Vy, and Vz) which are converted from displacement values for each axis, in response to the motion route command sent from the microprocessor, to control the position or speed of the hand. A hand position detection unit (14) receives signals (Px, Py, and Pz) generated from the drive sources for the three axes for detecting the current position of the hand. A force control unit generates a control command based on the outputs (Ma to Mf) from the force sensor, and generates follow-up displacement values (PFx, PFy, and PFz). An arm drive unit (16) operates each drive source on the basis of displacement values from the position control unit and the follow-up displacement values from the force control unit.
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Patent Agency Ranking
公开(公告)号：DE3584066D1
公开(公告)日：1991-10-17
申请号：DE3584066
申请日：1985-09-27
Applicant: FUJITSU LTD
Inventor： ASAKAWA KAZUO , ONDA NOBUHIKO , AKITA TADASHI , KAMADA TORU
Abstract: Apparatus (30) for detecting an external force applied to, for example, a robot hand, comprising an elastic member (A,B) deformable symmetrically with respect to the center (D), a first displacement-detecting means (40a,40b) for detecting displacements of the elastic member at positions symmetric with respect to the center in one direction, and a second displacement-detecting means (40e,40f) for detecting displacements of the elastic member at positions symmetric with respect to the center in the other directions.
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公开(公告)号：CA1259816A
公开(公告)日：1989-09-26
申请号：CA491259
申请日：1985-09-20
Applicant: FUJITSU LTD
Inventor： ASAKAWA KAZUO , ONDA NOBUHIKO , AKITA TADASHI , KAMADA TORU
Abstract: FORCE-DETECTING APPARATUS A force-detecting apparatus comprising an elastic member deformable symmetrically with respect to the center, a first displacement-detecting means for detecting the displacements of the elastic member at the positions symmetric with respect to the center in the same direction, and a second displacement-detecting means for detecting the displacements of the elastic member at the positions symmetric with respect to the center in the opposite directions.
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公开(公告)号：CA1233222A
公开(公告)日：1988-02-23
申请号：CA475684
申请日：1985-03-04
Applicant: FUJITSU LTD
Inventor： ONDA NOBUHIKO , ASAKAWA KAZUO , AKITA TADASHI , KOMORIYA HITOSHI , KAMADA TORU
IPC: G05B19/42 , B25J9/18 , G05B19/423
Abstract: A MOVABLE APPARATUS DRIVING SYSTEM A movable apparatus drive system includes, a driving device for the movable apparatus, a first output device for detecting environmental information around the movable apparatus and for outputting a corresponding signal in response to the environmental information data, a second output device for outputting a command signal to drive the driving device so as to move the movable apparatus to a target position, based on target position data of the movable apparatus to be moved and current position data of the movable apparatus; and a supply device for supplying a composite signal constituted by the environmental information data and the command signal. Moreover, a robot control system comprises; a control device for controlling a motion of the robot in response to a command signal to the robot; a spring mechanism provided at a working point of the robot for detecting a deflection (displacement) caused by an external force applied to the robot; and a feedback means for feeding back a deflection feedback value obtained by multiplying detected output of said spring messianism by a predetermined gain, and the control device controls the motion of the robot in response to the audition of a position command generated from the control means and the deflection feedback value.
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公开(公告)号：AU565086B2
公开(公告)日：1987-09-03
申请号：AU3951685
申请日：1985-03-05
Applicant: FUJITSU LTD
Inventor： ONDA NOBUHIKO , ASAKAWA KAZUO , AKITA TADASHI , KOMORIYA HITOSHI , KAMADA TORU
Abstract: The robot (1) comprises a hand (4), a force sensor (5), an X-axis base (6), a Z-axis base (7) and a Y-axis base (8). A control circuit for the robot includes a memory unit (11) for storing teaching and other data, and a microprocessor (12) which reads out the teaching data from the memory, generates a motion route command for the hand, sends motion route data to a position control unit (13), and sends open and close commands to the hand via a hand open close unit (17). The microprocessor also generates teaching data in response to hand positions detected by a hand position detection unit (14) and stores the teaching data in the memory. A position control unit (13) feeds out a plurality of pulses (Vx, Vy, and Vz) which are converted from displacement values for each axis, in response to the motion route command sent from the microprocessor, to control the position or speed of the hand. A hand position detection unit (14) receives signals (Px, Py, and Pz) generated from the drive sources for the three axes for detecting the current position of the hand. A force control unit generates a control command based on the outputs (Ma to Mf) from the force sensor, and generates follow-up displacement values (PFx, PFy, and PFz). An arm drive unit (16) operates each drive source on the basis of displacement values from the position control unit and the follow-up displacement values from the force control unit.
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公开(公告)号：AU3951685A
公开(公告)日：1985-09-12
申请号：AU3951685
申请日：1985-03-05
Applicant: FUJITSU LTD
Inventor： ONDA NOBUHIKO , ASAKAWA KAZUO , AKITA TADASHI , KOMORIYA HITOSHI , KAMADA TORU
Abstract: The robot (1) comprises a hand (4), a force sensor (5), an X-axis base (6), a Z-axis base (7) and a Y-axis base (8). A control circuit for the robot includes a memory unit (11) for storing teaching and other data, and a microprocessor (12) which reads out the teaching data from the memory, generates a motion route command for the hand, sends motion route data to a position control unit (13), and sends open and close commands to the hand via a hand open close unit (17). The microprocessor also generates teaching data in response to hand positions detected by a hand position detection unit (14) and stores the teaching data in the memory. A position control unit (13) feeds out a plurality of pulses (Vx, Vy, and Vz) which are converted from displacement values for each axis, in response to the motion route command sent from the microprocessor, to control the position or speed of the hand. A hand position detection unit (14) receives signals (Px, Py, and Pz) generated from the drive sources for the three axes for detecting the current position of the hand. A force control unit generates a control command based on the outputs (Ma to Mf) from the force sensor, and generates follow-up displacement values (PFx, PFy, and PFz). An arm drive unit (16) operates each drive source on the basis of displacement values from the position control unit and the follow-up displacement values from the force control unit.
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