To provide a multi-axial positioner capable of adjusting a contact force, a position and a posture of a robot for assembling precise or minute components while positioning them according to assembling operation.
The positioner 4 has a linear actuator 42 for driving a drive shaft 44 and a link mechanism 43 coupled via the drive shaft 44. The linear actuator 42 drives the drive shaft, thereby driving the link mechanism 43 for positioning the components. A controller 41 calculates the impedance of the positioner from a position, velocity and acceleration of a hand obtained by a displacement sensor 45 and a position coordinate conversion arithmetic part 414, and calculates a drive force of the linear actuator 42 from the calculated impedance of the positioner.
HARADA YUTAKA
KAWASE SHIGERU
TSUMURA TAKASHI
IWASHITA SUMIHISA
JPH02205489A | 1990-08-15 | |||
JPH11333771A | 1999-12-07 | |||
JP2008178945A | 2008-08-07 | |||
JP2009006417A | 2009-01-15 | |||
JP2000176871A | 2000-06-27 | |||
JPH06332535A | 1994-12-02 | |||
JPH10309684A | 1998-11-24 | |||
JP2005316937A | 2005-11-10 | |||
JP2004066385A | 2004-03-04 |