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1. 发明申请

WO2009020600A1 FORCE CONTROLLED ROBOTS 审中-公开
标题翻译：强制控制机器人
公开(公告)号：WO2009020600A1
公开(公告)日：2009-02-12
申请号：PCT/US2008/009412
申请日：2008-08-05
申请人： ABB RESEARCH LTD. , WANG, Jianjum , HE, Jianmin , ISAKSSON, Mats , GROTH, Tomas , ZHANG, Hui
发明人： WANG, Jianjum , HE, Jianmin , ISAKSSON, Mats , GROTH, Tomas , ZHANG, Hui
IPC分类号： B25J9/16
CPC分类号： B25J9/1633 , G05B2219/39319 , G05B2219/40287
摘要： Various arrangements for force control and robots are described. In one arrangement, the force sensor and the object are both stationary. In another arrangement which represents two cases, the object and the force sensor are both on an external axis and in one case the force controlled unit is the robot and in the case the force controlled unit is the external axis. In yet another arrangement in which the object is on the external axis, the external axis is the force controlled unit is the external axis and the force sensor is on the robot. In a further arrangement, there are two robots and the force is mounted on one and the other is subjected to force control. The object can be either the tool or the object to be worked on or the object to be assembled with or used in the assembly of another object.
摘要翻译：描述了用于力控制和机器人的各种布置。在一种布置中，力传感器和物体都是静止的。在代表两种情况的另一种布置中，物体和力传感器都在外部轴上，并且在一种情况下，力控制单元是机器人，并且在受力单元是外部轴的情况下。在另一种其中物体在外轴上的布置中，外轴是受力单元是外轴，力传感器在机器人上。在另一种布置中，存在两个机器人，并且力被安装在一个机器人上，另一个被施加力控制。该对象可以是工具或要加工的对象，也可以是要组装的对象或者用于组装其他对象的对象。

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