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1. 发明授权

US4424472A Programmable robot 失效
标题翻译：可编程机器人
公开(公告)号：US4424472A
公开(公告)日：1984-01-03
申请号：US309265
申请日：1981-10-07
申请人： Jacques Jacot-Descombes , Jean-Luc Monnier
发明人： Jacques Jacot-Descombes , Jean-Luc Monnier
IPC分类号： B25J9/16 , B25J9/00 , B25J9/18 , G05B19/42 , G05B19/423
CPC分类号： B25J9/0081 , G05B19/423 , G05B2219/35438 , G05B2219/36429
摘要： For each degree of freedom of the robot and in the COMMAND mode (switch 32 in position II) the corresponding movable member 21 is moved by an actuator 20 in accordance with an error signal formed as the difference between a command datum C supplied from a register 27 and an actual position datum P supplied by a position sensor 26, the command data required from time to time being provided from a memory 28 via a circuit 34. For training the robot, the FOLLOW mode is selected by putting the switch 32 in position I and the command datum C is replaced by the position datum P, the value of which is periodically entered in the register 27 via a switch 33 which is periodically closed by pulses 35a from a pulse generator 36. When the robot is at a position to which it is to be trained, a switch 30 is closed to write the then contents of the register 27 in the memory 28 for subsequent use in the COMMAND mode.
摘要翻译：对于机器人的每个自由度并且在COMMAND模式（位置II中的开关32）中，相应的可动构件21由致动器20根据形成为从寄存器提供的命令基准C之间的差异形成的误差信号移动 27和由位置传感器26提供的实际位置基准P，经由电路34从存储器28不时提供的命令数据。为了训练机器人，通过将开关32置于位置来选择FOLLOW模式 I和命令基准C由位置数据P代替，位置数据P的值通过由脉冲发生器36的脉冲35a周期性闭合的开关33周期性地输入到寄存器27中。当机器人位于要对其进行训练，关闭开关30以将寄存器27的内容写入存储器28中，以便随后在COMMAND模式下使用。

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