US3661051A
Expired / Lapsed
US
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Programmed manipulator apparatus
Assignee: Unimation Inc
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Filing: 1970-08-18
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Granted: 1972-05-09
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Expires: 1990-08-18
Abstract
Abstract A programmed manipulator apparatus employs a continuously rotating memory drum in which may be stored signals representing a number of steps in a desired sequence of operations. A portable teach control assembly is employed during the teaching operation to establish a desired position of the manipulator arm which is then recorded on the memory drum. During repetitive work cycles, the recorded signals are used as command signals and are compared with encoder signals representing absolute position to move the manipulator arm to each set of positions in sequence. The manipulator arm may be moved over curved paths by employing artificial coincidence signals which are developed while large error signals still exist in the controlled axes. A common comparator and digital-to-analog converter is employed for all of the controlled axes which provides coincidence signals representing different magnitudes of error.
Inventors
- 👤 Maurice J Dunne
- 👤 Joseph F Engelberger
- 👤 Horace L Gardner
- 👤 Torsten H Lindbom
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 18:47
CPC Classifications
B; B25; B25J; B25J13/00; B25J13/02; F; F15; F15B; F15B21/00; F15B21/02; G; G05; G05B; G05B19/00; G05B19/02; G05B19/42; G05B19/425; G05D; G05D3/00; G05D3/12; G05D3/20; G05B2219/00; G05B2219/30; G05B2219/34; G05B2219/34236; G05B2219/34237; G05B2219/35; G05B2219/35238; G05B2219/41; G05B2219/41301; G05B2219/50; G05B2219/50048
Claims Analysis
Total Claims: 38
Claim 1
Independent Claim
111 words
In a programmed manipulator apparatus, the combination of, a manipulator arm, means for moving said arm in a plurality of different axes, means for developing command signals representing a desired position of said arm in each of said axes, means for developing a position signal representing the position of said arm in each of said axes, comparing means common to said axes for comparing command and position signals and developing an error signal proportional to the difference therebetween, and means for sequentially connecting said comparing means to different command and position signal combinations corresponding to movement in different ones of said axes during different periods in a repetitive multiplex scanning cycle.
Claim 2
Dependent Claim
111 words
In a programmed manipulator apparatus, the combination of, a manipulator arm, means for moving said arm in a plurality of different axes, means for developing command signals representing a desired position of said arm in each of said axes, means for developing a position signal representing the position of said arm in each of said axes, comparing means common to said axes for comparing command and position signals and developing an error signal proportional to the difference therebetween, and means for sequentially connecting said comparing means to different command and position signal combinations corresponding to movement in different ones of said axes during different periods in a repetitive multiplex scanning cycle.
Claim 3
Dependent Claim
44 words
The combination of claim 1, wherein there is provided a storage circuit for each of said axes, and means for distributing error signals to said storage circuits during the multiplex period when the corresponding command and position signals are connected to said comparing means.
Claim 4
Dependent Claim
25 words
The combination of claim 2, wherein said distributing means is effective only during the latter portion of each multiplex period of said multiplex scanning cycle.
Claim 5
Dependent Claim
48 words
The combination of claim 2, wherein said comparing means includes means for developing a digital error signal representing the numerical difference between said command and position signals, and means for converting said digital error signal into an analog error signal which is successively applied to said storage circuits.
Claim 6
Dependent Claim
21 words
The combination of claim 4, wherein said analog signal has a velocity-position characteristic which is in the shape of a parabola.
Claim 7
Dependent Claim
44 words
The combination of claim 5, wherein said arm moving means including hydraulic actuator means and servo valve means for controlling said hydraulic actuator means, said servo valve means having a control characteristic which is inversely related to said velocity-position characteristic of said analog signal.
Claim 8
Dependent Claim
119 words
In a programmed manipulator apparatus, the combination of, a manipulator arm, hydraulic actuator means for moving said arm in a given axis, servo valve means for controlling said actuator means, electromagnetic means for controlling said servo valve means, said servo valve means having a square law control characteristic, means for developing a command signal corresponding to the distance to be moved in said axis, means for developing a position signal corresponding to the position of said arm in said axis, means for comparing said position signal with said command signal to derive an error signal having a velocity-position error characteristic opposite to that of said servo valve means, and means for supplying said error signal to said electromagnetic means.
Claim 9
Dependent Claim
119 words
In a programmed manipulator apparatus, the combination of, a manipulator arm, hydraulic actuator means for moving said arm in a given axis, servo valve means for controlling said actuator means, electromagnetic means for controlling said servo valve means, said servo valve means having a square law control characteristic, means for developing a command signal corresponding to the distance to be moved in said axis, means for developing a position signal corresponding to the position of said arm in said axis, means for comparing said position signal with said command signal to derive an error signal having a velocity-position error characteristic opposite to that of said servo valve means, and means for supplying said error signal to said electromagnetic means.
Claim 10
Dependent Claim
132 words
In a programmed manipulator apparatus, the combination of, a manipulator arm, means for moving said arm along a predetermined path, means for developing a digital command signal representing a desired position of said arm, means for developing a digital position signal representing the actual position of said arm, means for comparing said command and position signals to develop a digital error signal, a ladder network, means coupling individual digits of said error signal to different levels of said ladder network, means for combining the outputs of a plurality of levels of said ladder network to provide an analog error signal the shape of which is in the form of a parabola, and means for applying said analog error signal to said arm moving means to move said arm to said desired position.
Claim 11
Dependent Claim
132 words
In a programmed manipulator apparatus, the combination of, a manipulator arm, means for moving said arm along a predetermined path, means for developing a digital command signal representing a desired position of said arm, means for developing a digital position signal representing the actual position of said arm, means for comparing said command and position signals to develop a digital error signal, a ladder network, means coupling individual digits of said error signal to different levels of said ladder network, means for combining the outputs of a plurality of levels of said ladder network to provide an analog error signal the shape of which is in the form of a parabola, and means for applying said analog error signal to said arm moving means to move said arm to said desired position.
Claim 12
Dependent Claim
79 words
The combination of claim 8, wherein said arm is moved in a plurality of axes and said comparing means is sequentially connected to different command and position signal combinations corresponding to movement in different ones of said axes during a multiplex cycle, a storage circuit for each of said axes, and means for distributing said analog error signal to said storage circuits during the multiplex period when the corresponding command and position signals are connected to said comparing means.
Claim 13
Dependent Claim
82 words
The combination of claim 1, wherein said position and command signals are digital and said comparing means develops digital error signals equal to the difference therebetween, said comparing means being also arranged to develop a final carry or borrow pulse when one of said position and command signals is larger than the other, and direction determining means controlled in part by said final carry or borrow pulse for controlling the direction of movement of said arm moving means along the corresponding axis.
Claim 14
Dependent Claim
40 words
The combination of claim 10, wherein there is provided means for developing a control signal when said command signal and said position signal are not equal, and means for controlling in part said direction determining means by said control signal.
Claim 15
Dependent Claim
152 words
In a programmed manipulator apparatus, the combination of, a manipulator arm, means for moving said arm in a plurality of axes, a magnetic storage medium, encoder means for developing a plurality of binary code signals representing the absolute position of said arm in said plurality of axes, means for developing successive clock periods in successive program intervals, recording means arranged to develop a flux change of one polarity in said medium during the latter half of any one of said clock periods which represents a binary digit of ''''1'''' and arranged to develop a flux change of opposite polarity in said medium during the latter half of any one of said clock periods which represents a binary digit of ''''0,'''' and teach control means for controlling said recording means in accordance with said encoder signals to record binary code signals on said medium corresponding to a particular position of said manipulator arm.
Claim 16
Dependent Claim
152 words
In a programmed manipulator apparatus, the combination of, a manipulator arm, means for moving said arm in a plurality of axes, a magnetic storage medium, encoder means for developing a plurality of binary code signals representing the absolute position of said arm in said plurality of axes, means for developing successive clock periods in successive program intervals, recording means arranged to develop a flux change of one polarity in said medium during the latter half of any one of said clock periods which represents a binary digit of ''''1'''' and arranged to develop a flux change of opposite polarity in said medium during the latter half of any one of said clock periods which represents a binary digit of ''''0,'''' and teach control means for controlling said recording means in accordance with said encoder signals to record binary code signals on said medium corresponding to a particular position of said manipulator arm.
Claim 17
Dependent Claim
81 words
The combination of claim 12, wherein said storage medium comprises a continuously rotating storage drum, and said recording means includes a plurality of heads adjacent the periphery of said drum, repeat control means for utilizing said heads to produce command signals corresponding to said recorded flux changes, means for comparing said command signals with signals from said encoder means and developing error signals equal to the differences therebetween, and means utilizing said error signals to move said arm to different positions.
Claim 18
Dependent Claim
154 words
In a programmed manipulator, the combination of, a manipulator arm, means for moving said arm along a pluraliTy of axes, encoder means for developing a digital signal corresponding to the absolute position of said arm in one of said axes, means for developing a sequence of digital command signals corresponding to desired positions of said arm along said one axis, means for comparing said encoder signal and one of said command signals in said sequence to develop an analog error signal equal to the difference therebetween, means responsive to said analog error signal for controlling said moving means to move said arm along said one axis in the direction to reduce said analog error signal, means for developing an artificial coincidence signal when said analog error signal is reduced to a predetermined magnitude, and means responsive to said artificial coincidence signal for connecting the next command signal in said sequence to said comparing means.
Claim 19
Dependent Claim
154 words
In a programmed manipulator, the combination of, a manipulator arm, means for moving said arm along a pluraliTy of axes, encoder means for developing a digital signal corresponding to the absolute position of said arm in one of said axes, means for developing a sequence of digital command signals corresponding to desired positions of said arm along said one axis, means for comparing said encoder signal and one of said command signals in said sequence to develop an analog error signal equal to the difference therebetween, means responsive to said analog error signal for controlling said moving means to move said arm along said one axis in the direction to reduce said analog error signal, means for developing an artificial coincidence signal when said analog error signal is reduced to a predetermined magnitude, and means responsive to said artificial coincidence signal for connecting the next command signal in said sequence to said comparing means.
Claim 20
Dependent Claim
40 words
The combination of claim 14, wherein said artificial coincidence signal is produced while said analog error signal has a value representing a distance equal to a substantial percentage of the total movement of said arm in said one particular axis.
Claim 21
Dependent Claim
48 words
The combination of claim 14, wherein said comparing means develops a digital error signal, means for converting said digital error signal into a corresponding analog error signal, a reference voltage, and means for comparing said analog error signal with said reference voltage to develop said artificial coincidence signal.
Claim 22
Dependent Claim
28 words
The combination of claim 16, wherein said reference voltage is adjustable, thereby to vary the position along said one axis at which said artificial coincidence signal is produced.
Claim 23
Dependent Claim
129 words
In a programmed manipulator, the combination of, a manipulator arm, means for moving said arm along first and second axes, encoder means for developing first and second encoder signals corresponding to the position of said arm in said first and second axes, means for developing command signals corresponding to desired positions of said arm in said first and second axes, means for comparing said first and second encoder signals with their respective command signals to develop first and second error signals equal to the differences therebetween, and means for developing an artificial coincidence signal when both said first and second error signals have values representing a distance equal to a substantial percentage of the total movement of said arm in the respective ones of said first and second axes.
Claim 24
Dependent Claim
129 words
In a programmed manipulator, the combination of, a manipulator arm, means for moving said arm along first and second axes, encoder means for developing first and second encoder signals corresponding to the position of said arm in said first and second axes, means for developing command signals corresponding to desired positions of said arm in said first and second axes, means for comparing said first and second encoder signals with their respective command signals to develop first and second error signals equal to the differences therebetween, and means for developing an artificial coincidence signal when both said first and second error signals have values representing a distance equal to a substantial percentage of the total movement of said arm in the respective ones of said first and second axes.
Claim 25
Dependent Claim
30 words
The combination of claim 18, wherein reference means are provided in association with said artificial coincidence signal developing means, and means for comparing said error signals with said reference means.
Claim 26
Dependent Claim
35 words
The combination of claim 19, wherein said reference means is an adjustable voltage source, adjustment of said source being effective to vary the position along each axis at which said artificial coincidence signal is produced.
Claim 27
Dependent Claim
127 words
In a programmed manipulator, the combination of, a manipulator arm movable along a plurality of axes, program means including a series of command signals specifying a sequence of positions to which said arm may be moved, control means responsive to said series of command signals for successively moving said arm toward the positions indicated by two successive ones of said command signals, and means modifying movement of said arm so that said arm moves toward the next position in the sequence before it reaches the positions indicated by said two command signals, the distance between the desired command signal position and the point at which said modifying movement commences being a substantial percentage of the total movement of said arm in at least one of said axes.
Claim 28
Dependent Claim
127 words
In a programmed manipulator, the combination of, a manipulator arm movable along a plurality of axes, program means including a series of command signals specifying a sequence of positions to which said arm may be moved, control means responsive to said series of command signals for successively moving said arm toward the positions indicated by two successive ones of said command signals, and means modifying movement of said arm so that said arm moves toward the next position in the sequence before it reaches the positions indicated by said two command signals, the distance between the desired command signal position and the point at which said modifying movement commences being a substantial percentage of the total movement of said arm in at least one of said axes.
Claim 29
Dependent Claim
25 words
The combination of claim 21, wherein means are provided for adjustably varying the point at which said modifying movement commences independently of said program means.
Claim 30
Dependent Claim
184 words
In a programmed manipulator apparatus, the combination of, a manipulator arm mounted on a base member, means for moving said arm along a plurality of axes, storage means, means for storing digItal information in said storage means, encoder means connected to said arm and arranged to develop digital encoder signals corresponding to the absolute position of said arm in each of said axes, a remote teach control assembly interconnected with said storing means through a single flexible cable and adapted to be gripped by a teaching operator, said teach control assembly having a physical shape which simulates generally the physical shape of said manipulator arm, means including push buttons located on said assembly for controlling said moving means to move said arm to a desired position, said push buttons being located on said assembly at points which are physically correlated with desired movement of said arm in each of said axes, a record button located on said assembly, and means including said record button for controlling said storing means to store the digital encoder signal corresponding to said desired position in said storage means.
Claim 31
Dependent Claim
184 words
In a programmed manipulator apparatus, the combination of, a manipulator arm mounted on a base member, means for moving said arm along a plurality of axes, storage means, means for storing digItal information in said storage means, encoder means connected to said arm and arranged to develop digital encoder signals corresponding to the absolute position of said arm in each of said axes, a remote teach control assembly interconnected with said storing means through a single flexible cable and adapted to be gripped by a teaching operator, said teach control assembly having a physical shape which simulates generally the physical shape of said manipulator arm, means including push buttons located on said assembly for controlling said moving means to move said arm to a desired position, said push buttons being located on said assembly at points which are physically correlated with desired movement of said arm in each of said axes, a record button located on said assembly, and means including said record button for controlling said storing means to store the digital encoder signal corresponding to said desired position in said storage means.
Claim 32
Dependent Claim
46 words
The combination of claim 23, wherein said manipulator arm is movable along an in-and-out axis and two of said push buttons are located on the forward and rearward ends of said teach control assembly for controlling the in motion and out motion respectively of said arm.
Claim 33
Dependent Claim
46 words
The combination of claim 23, wherein said manipulator arm is movable in a down-up axis, and two of said push buttons are located on the top and bottom surfaces of said teach control assembly for controlling the down motion and up motion respectively of said arm.
Claim 34
Dependent Claim
61 words
The combination of claim 23, wherein said manipulator arm is provided with a pivoted hand on the outer end thereof which is movable in a wrist bend axis, and two of said push buttons are located on the top and bottom surfaces of said teach control assembly for controlling the wrist down motion and wrist up motion respectively of said hand.
Claim 35
Dependent Claim
63 words
The combination of claim 23, wherein said manipulator arm is provided with a pivoted hand on the outer end thereof which is movable in a wrist swivel axis, and two of said push buttons are located on the right and left sides of said teach control assembly for controlling the wrist left swivel motion and wrist right swivel motion respectively of said hand.
Claim 36
Dependent Claim
52 words
The combination of claim 23, wherein said manipulator arm is movable in a rotary movement about a vertical axis, and two of said push buttons are located on the right and left sides of said teach control assembly for controlling the rotary left motion and rotary right motion respectively of said arm.
Claim 37
Dependent Claim
109 words
In a programmed manipulator apparatus, the combination of, a manipulator arm, a rotatably mounted vertically extending member, means for supporting said arm on the upper end of said member, a ring gear connected to said member, a rack in engagement with said ring gear, hydraulic cylinder means for moving said rack so that said arm is rotated about the vertical axis of said member, a piston the end of which is in sliding engagement with said rack, and means for exerting a force on said piston which is greater than the maximum separating forces produced between said ring gear and said rack when said arm is accelerated and decelerated.
Claim 38
Dependent Claim
109 words
In a programmed manipulator apparatus, the combination of, a manipulator arm, a rotatably mounted vertically extending member, means for supporting said arm on the upper end of said member, a ring gear connected to said member, a rack in engagement with said ring gear, hydraulic cylinder means for moving said rack so that said arm is rotated about the vertical axis of said member, a piston the end of which is in sliding engagement with said rack, and means for exerting a force on said piston which is greater than the maximum separating forces produced between said ring gear and said rack when said arm is accelerated and decelerated.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1975-05-09 | 1975-11-08 | 1976-05-09 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1979-05-09 | 1979-11-08 | 1980-05-09 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1983-05-09 | 1983-11-08 | 1984-05-09 | $7700.00 | Window Closed / Lapsed |