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United States Patent | 4,640,663 |
Niinomi , et al. | February 3, 1987 |
A robot balancer (2) and a method for controlling the balancer is disclosed which has a step or a force sensor (10) mounted on the tip of the arm (3) of the balancer (2), a step or an operational means (21) for calculating the velocity of the balancer from the force given by the force sensor, and a step or a control means (15) for controlling a velocity of the balancer (2) in response to a signal from the force sensor.
Inventors: | Niinomi; Tatsuya (Yokohama, JP), Kikuchi; Hiroshi (Hiratsuka, JP) |
Assignee: |
Hitachi, Ltd.
(Tokyo,
JP)
|
[*] Notice: | The portion of the term of this patent subsequent to September 17, 2002 has been disclaimed. |
Appl. No.: | 06/557,430 |
Filed: | December 2, 1983 |
Dec 13, 1982 [JP] | 57-216801 | |||
Current U.S. Class: | 414/730 ; 901/48; 901/49; 901/8; 901/9 |
Current International Class: | B25J 19/06 (20060101); B25J 13/08 (20060101); B25J 19/00 (20060101); B66C 023/00 () |
Field of Search: | 414/5,730,719 901/5,9,48,49,6,8,45 |
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4541770 | September 1985 | Niinomi et al. |
365503 | Jan., 1982 | DE | |||
2095644 | Oct., 1982 | GB | |||
Structured Light Method, Y. Nakagawa and T. Ninomiya, Paper Presented at 1st Int'l. Symposium on Robot Research, Bretton Woods, N. H., 8/20-9/2, 1983.. |