US3845284A
Expired / Lapsed
US
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Positioning apparatus
Assignee: Toshiba Corp
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Filing: 1973-03-15
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Granted: 1974-10-29
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Expires: 1993-03-15
Abstract
Abstract Positioning apparatus for coordinating the movement of two members of an industrial robot. The apparatus corrects the actual position of each member according to stored preset position instructions. The movement of each member is interrelated by means of a computer feedback loop that provides a feedback signal indicative of the difference in movement between the members. The feedback signal is then utilized by one of the members to correct its position when compared with its preset position instructions.
Inventors
- 👤 N Taguchi
- 👤 T Ono
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 07:26
CPC Classifications
B; B25; B25J; B25J17/00; B25J17/02; B25J17/0258; B25J9/00; B25J9/02; B25J9/04; B25J9/045; B25J9/10; B25J9/106; G; G05; G05B; G05B19/00; G05B19/02; G05B19/42; G05D; G05D3/00; G05D3/12; G05D3/14; G05B2219/00; G05B2219/30; G05B2219/39; G05B2219/39177; G05B2219/42; G05B2219/42186; Y; Y10; Y10S; Y10S700/00; Y10S700/90
Claims Analysis
Total Claims: 7
Claim 1
Independent Claim
137 words
A positioning apparatus for positioning at least first and second members in response to given command signals therefor, which comprises: first and second actuating means for positioning said two members in response to first and second manipulation signals, respectively; first and second detecting means for generating first and second position signals proportional to the movement of said first and second members, respectively; first comparing means for comparing said first position signal with said given command signal for said first member and for generating said first manipulation signal in response thereto; computing means for receiving said first and second position signals and for generating a feedback signal in response thereto; and second comparing means for comparing said feedback signal with said given command signal for said second member and for generating said second manipulation signal in response thereto.
Claim 2
Dependent Claim
137 words
A positioning apparatus for positioning at least first and second members in response to given command signals therefor, which comprises: first and second actuating means for positioning said two members in response to first and second manipulation signals, respectively; first and second detecting means for generating first and second position signals proportional to the movement of said first and second members, respectively; first comparing means for comparing said first position signal with said given command signal for said first member and for generating said first manipulation signal in response thereto; computing means for receiving said first and second position signals and for generating a feedback signal in response thereto; and second comparing means for comparing said feedback signal with said given command signal for said second member and for generating said second manipulation signal in response thereto.
Claim 3
Dependent Claim
37 words
The positioning apparatus as set forth in claim 1 wherein said first comparing means comprises means for subtracting said first position signal from said first command signal whereby said first manipulation signal corresponds to the difference therebetween.
Claim 4
Dependent Claim
36 words
The positioning apparatus as set forth in claim 1 wherein said second comparing means comprises means for subtracting said feedback signal from said second position signal whereby said second manipulation signal corresponds to the difference therebetween.
Claim 5
Dependent Claim
35 words
The positioning apparatus as set forth in claim 1 wherein said computing means comprises means for subtracting said first position signal from said second position signal whereby said feedback signal corresponds to the difference therebetween.
Claim 6
Dependent Claim
18 words
The positioning apparatus as set forth in claim 4 wherein said computing means comprises a digital logic circuit.
Claim 7
Dependent Claim
17 words
The positioning apparatus as set forth in claim 4 wherein said computing means comprises an analog circuit.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1977-10-28 | 1978-04-29 | 1978-10-29 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1981-10-28 | 1982-04-29 | 1982-10-29 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1985-10-28 | 1986-04-29 | 1986-10-29 | $7700.00 | Window Closed / Lapsed |