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1. 发明授权

US4715773A Method and apparatus for repositioning a mislocated object with a robot hand 失效
标题翻译：用机器人手重新定位错位物体的方法和装置
公开(公告)号：US4715773A
公开(公告)日：1987-12-29
申请号：US872219
申请日：1986-06-09
申请人： Joey K. Parker , Frank W. Paul
发明人： Joey K. Parker , Frank W. Paul
IPC分类号： B25J13/08 , B25J15/00 , B25J15/02 , B25J9/16
CPC分类号： B25J15/0004 , B25J13/082 , B25J15/0253
摘要： An apparatus and method for translating an object held by at least two fingers of a robot hand to a predetermined position relative to a fixed point of the robot hand is disclosed. The apparatus comprises a linear potentiometer for sensing the position of each finger relative to the fixed point on the robot hand. A microcomputer identifies the finger at the greater distance from the predetermined position as the position-controlled finger, and identifies the other finger as the force-controlled finger. Pneumatic cylinders and valves impart movement to each finger. A pneumatic servovalve controls movement of the position-controlled finger according to the position of the position-controlled finger relative to the fixed point of the robot hand. In an alternative embodiment, the movement of the position-controlled finger is controlled according to both the position of the position-controlled finger and the position of the force-controlled finger. A pair of strain gages senses the force between the force-controlled finger and the object. Another pneumatic servovalve controls movement of the force-controlled finger according to the force sensed between the force-controlled finger and the object.
摘要翻译：公开了一种用于将由机器人手的至少两个手指保持的物体相对于机器人手的固定点平移到预定位置的装置和方法。该装置包括用于感测每个手指相对于机器人手上的固定点的位置的线性电位计。微型计算机以与位置控制的手指相距的较大距离识别手指，并将另一手指识别为受力手指。气动缸和阀门使每个手指移动。气动伺服阀根据位置控制的手指相对于机器人手的固定点的位置控制位置控制的手指的运动。在替代实施例中，根据位置控制的手指的位置和受力手指的位置来控制位置控制的手指的移动。一对应变计感测到受力手指和物体之间的力。另一个气动伺服阀根据受力手指和物体之间感测的力控制力控制手指的运动。

2. 发明授权

US4783107A Method and apparatus for controlling impact force during rapid robotic acquisition of object 失效
标题翻译：用于在物体快速自动获取过程中控制冲击力的方法和装置
公开(公告)号：US4783107A
公开(公告)日：1988-11-08
申请号：US120755
申请日：1987-11-12
申请人： Joey K. Parker , Frank W. Paul
发明人： Joey K. Parker , Frank W. Paul
IPC分类号： B25J13/08 , B25J15/00 , B25J15/02 , B66C1/00
CPC分类号： B25J15/0253 , B25J13/082 , B25J15/0004 , Y10S294/907
摘要： Proximity sensors are used to sense impending contact, i.e., a point of close approach, between a finger of a robot hand and an object. Each finger is equipped with force sensors so that finger touch force with the object can be measured and controlled. The hand is controlled by a dedicated microprocessor, which communicates with a robot arm controller through 8 digital input/output lines. A novel "bi-modal" control system uses information from the proximity sensors to control both solenoid (on/off) valves and a proportional servovalve which are alternatively switched into an operative mode in a pneumatic circuit which powers the pneumatic actuators of the hand. This control design achieves the two goals of rapid object acquisition and low interaction forces. Each finger of the hand is capable of implementing an acquisition strategy in which mislocated objects can be acquired.
摘要翻译：接近传感器用于感测机器人手的手指与物体之间的即将接触，即紧密接近的点。每个手指配备有力传感器，从而可以测量和控制与物体的手指触摸力。手由一个专用微处理器控制，通过8个数字输入/输出线与机器人手臂控制器进行通讯。一种新颖的“双模式”控制系统使用来自接近传感器的信息来控制螺线管（开/关）阀和比例伺服阀，该比例伺服阀在为手的气动致动器供电的气动回路中交替切换到操作模式。该控制设计实现了快速物体采集和低相互作用力的两个目标。手的每个手指能够实现可以获取错位对象的获取策略。

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