US3906323A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Industrial robot
Assignee: Toshiba Corp
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Filing: 1974-01-25
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Granted: 1975-09-16
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Expires: 1994-01-25
Abstract
Abstract An industrial robot having a plurality of moving members mechanically interconnected such that operation of one member causes undesirable movement in another. Disclosed are novel electrical control means for compensating for such undesirable movement. The control means include an error signal generator and manipulation signal generator for each member which respond to the difference between the actual and desired movement thereof. The error signals developed for the undesired movement-producing members are fed to the manipulation signal generators of such members. Additionally, the output of a position detector for each member is compensated by a signal from the undesired-movementproducing members'' position detector. The control means are interconnected in such a way so as to assure continuous and trouble-free operation in response to the desired position of each member as generated by its associated command device.
Inventors
- 👤 Takehiko Ono
- 👤 Nobuo Taguchi
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 00:07
CPC Classifications
B; B25; B25J; B25J9/00; B25J9/02; B25J9/04; B25J9/045; B25J13/00; B25J13/08; B25J13/088; B25J18/00; B25J18/02; B25J18/025; B25J18/04
Claims Analysis
Total Claims: 11
Claim 1
Independent Claim
213 words
An industrial robot having a plurality of moving members; a plurality of independent actuator means; mechanical means forming a force imparting linkage which is primarily intended for driving each member by an associated independent actuator means and is actually interrelated such that operation of at least one of the independent actuator means brings about the intended movement of the moving member associated therewith and an undesirable movement of one of the other moving members; control means for controlling the movement of moving members in response to a plurality of command signals respectively; wherein said control means comprises: a plurality of error signal generating means each generating an error signal indicative of the difference between the actual position and desired position represented by said command signal of its associated moving member; a plurality of manipulating signal generating means each generating a manipulating signal in response to its associated error signal at the least for controlling its associated independent actuator; means for supplying the error signal of the moving member, operation of whose associated independent actuator means causes the undesirable movement of one of the other moving members, to the manipulating signal generating means associated with the moving member subjected to the last mentioned undesirable movement in the sense to cancel the undesirable movement thereof.
Claim 2
Dependent Claim
213 words
An industrial robot having a plurality of moving members; a plurality of independent actuator means; mechanical means forming a force imparting linkage which is primarily intended for driving each member by an associated independent actuator means and is actually interrelated such that operation of at least one of the independent actuator means brings about the intended movement of the moving member associated therewith and an undesirable movement of one of the other moving members; control means for controlling the movement of moving members in response to a plurality of command signals respectively; wherein said control means comprises: a plurality of error signal generating means each generating an error signal indicative of the difference between the actual position and desired position represented by said command signal of its associated moving member; a plurality of manipulating signal generating means each generating a manipulating signal in response to its associated error signal at the least for controlling its associated independent actuator; means for supplying the error signal of the moving member, operation of whose associated independent actuator means causes the undesirable movement of one of the other moving members, to the manipulating signal generating means associated with the moving member subjected to the last mentioned undesirable movement in the sense to cancel the undesirable movement thereof.
Claim 3
Dependent Claim
67 words
The industrial robot according to claim 1, wherein each of said error signal generating means, further comprises: position detecting means responsive to the actual position of its associated independent actuator means for generating a position signal proportional to said actual position, and first comparing means capable of producing the error signal indicative of tHe difference between the actual position and desired position of its associated moving member.
Claim 4
Dependent Claim
91 words
The inductrial robot according to claim 2, wherein said error signal generating means associated with moving member which is subjected to said undesirable movement, further includes: second comparing means for generating an associated moving member''s actual position signal which is representative of the difference between the position signal from its associated position detecting means and the position signal from the position detecting means associated with said actuator means which causes said undesirable movement, said associated moving member''s actual position signal and associated command signal being supplied to said first comparing means.
Claim 5
Dependent Claim
45 words
The industrial robot according to claim 3 wherein said error signal generating means includes means responsive to the direction of movement of its associated moving member and of the moving member which causes said undesirable movement to change the sign of said error signal accordingly.
Claim 6
Dependent Claim
80 words
The industrial robot according to claim 3 wherein said plurality of moving members include first, second and third moving members and wherein said manipulating signal generating means of said second member is responsive to both its associated error signal and the error signal associated with said first moving member and wherein said manipulating signal generating means of said third member is responsive to its associated error signal and to the error signals associated with said first and second moving members.
Claim 7
Dependent Claim
26 words
The industrial robot according to claim 5 wherein said manipulating signal generating means of said first moving member is responsive only to its associated error signal.
Claim 8
Dependent Claim
32 words
The industrial robot according to claim 6 wherein said manipulating signal generating means of said first moving member comprises a first operational amplifier having an input resistance equal to its feedback resistance.
Claim 9
Dependent Claim
57 words
The industrial robot according to claim 7 wherein said manipulating signal generating means of said second member comprises a second operational amplifier having two inputs of equal resistance, one of which is connected to its associated error signal generating means, the other of which is connected to said error signal generating means of said first moving member.
Claim 10
Dependent Claim
74 words
The industrial robot according to claim 8 wherein said manipulating signal generating means of said third moving member comprises a third operational amplifier having three inputs of equal resistance, one of which is connected to its associated error signal generating means, another of which is connected to said error signal generating means of said second moving member, the third of which is connected to said error signal generating means of said first moving member.
Claim 11
Dependent Claim
59 words
The industrial robot according to claim 9, wherein the feedback resistances of all of said operational amplifiers are of equal magnitude, and wherein the input resistances of said second amplifier are each twice the value of said feedback resistance, and wherein the input resistances of said third operational amplifier are each three times the value of said feedback resistance.
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) | 1978-09-15 | 1979-03-17 | 1979-09-16 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1982-09-15 | 1983-03-17 | 1983-09-16 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1986-09-15 | 1987-03-17 | 1987-09-16 | $7700.00 | Window Closed / Lapsed |