公开(公告)号：DE3167160D1

公开(公告)日：1984-12-20

申请号：DE3167160

申请日：1981-05-15

Applicant: IBM

Inventor： EVANS ROGER CLINTON ,  GRIFFITH JOHN EMMETT ,  GROSSMAN DAVID DANIEL ,  KUTCHER MYRON MARTIN ,  WILL PETER MILNE

IPC: B25J9/16 ,  B25J9/18 ,  B25J19/00 ,  G05B19/18

Abstract: A method and apparatus for calibrating a robot and using the results of this calibration to compensate for inaccuracies of the robot and also to diagnose robot deterioration. The method includes moving the robot to a set of nominal positions, commanded by the robot controller or measured by position encoders built into the robot, and determining the associated actual positions by measuring the robot position with an independent accurate measuring means or by aligning the robot end effector with an accurate calibration mask. The calibration results are stored and subsequently used to compensate for robot inaccuracy so that the robot moves to the actual desired positions.

公开(公告)号：DE2754436A1

公开(公告)日：1978-07-13

申请号：DE2754436

申请日：1977-12-07

Applicant: IBM

Inventor： WANG SHERMAN SHEAU-MING ,  WESLEY MICHAEL ANDREW ,  WILL PETER MILNE

IPC: B25J15/00 ,  B25J9/16 ,  B25J9/18 ,  B25J13/08 ,  B25J15/02 ,  B25J15/08 ,  B25J13/00

Abstract: A computer-controlled-manipulator gripper with a set of three-degree-of-freedom force sensors on each finger having strain gauges and 90 DEG shift in orientation of the sensors includes an asymmetric, offset relationship of the location and orientation of analogous sensors on the two fingers in order to obtain different measurements from the two fingers.

公开(公告)号：DE2542052A1

公开(公告)日：1976-07-08

申请号：DE2542052

申请日：1975-09-20

Applicant: IBM

Inventor： GRIFFITH JOHN EMMETT ,  GROSSMAN DAVID DANIEL ,  WILL PETER MILNE

IPC: B25B1/18 ,  B23Q3/08 ,  B25B11/00 ,  G01N3/04 ,  B23Q3/15 ,  B24B41/06

Abstract: A quasi-liquid vise is provided for clamping irregularly shaped workpieces which comprises an open-topped vessel into which a workpiece may be inserted, a particulate fluidizable material located within and, substantially filling said vessel, pressure means connected to said vessel for introducing a gas or fluid therein to fluidize said particulate material, and means for applying a vacuum to said vessel and the particulate material to substantially solidify said particulate material when it is desired to clamp a workpiece therein. The solidifying effect of said vacuum applied to said particulate material may be enhanced by utilizing alternate layers of different sized particulate material wherein smaller particles fill voids and enhance the vacuum effect and hence the rigidity of the particulate material when it is desired to solidify same. Two additional approaches to improving the vacuum solidification effect include coating relatively dense particles with a somewhat resilient deformable material whereby better sealing action will be effected. Also, uniquely shaped particles may be utilized wherein a more rigid interlocking particle effect will be obtained upon application of the vacuum.

公开(公告)号：DE2256112A1

公开(公告)日：1973-05-24

申请号：DE2256112

申请日：1972-11-16

Applicant: IBM

Inventor： FRANASZEK PETER ANTHONY ,  GROSSMAN DAVID DANIEL ,  WILL PETER MILNE

IPC: H03M3/02 ,  H03K13/22

公开(公告)号：DE2253064A1

公开(公告)日：1973-05-10

申请号：DE2253064

申请日：1972-10-28

Applicant: IBM

Inventor： FRANASZEK PETER ANTHONY ,  GROSSMAN DAVID DANIEL ,  WILL PETER MILNE

IPC: H03M3/02 ,  B65G60/00 ,  G06T1/00 ,  H03M7/00 ,  H03M7/32 ,  H04B14/06 ,  H04N1/41 ,  H04N7/26 ,  H03K13/22