Title:
ROBOTIC DEVICES
Document Type and Number:
WIPO Patent Application WO2002100605
Kind Code:
A3
Abstract:
By moving supports A and C along respective tracks (3) and (4), the free end B of robot arm (2), with gripper (5), is caused to move along a path P, the locus of which may be varied by varying the movements of the supports A and C. Motors (6) and (7) are not carried on the robot arm (2), but are secured to the frame (10) of the device (1). The robot arm (2) may thus have very low mass, resulting in very high performance in terms of speed and efficiency. The path P may comprise a NURB curve, and the time-distance function of motion of end B of arm (2) along path P may comprise a polynomial function having first and second derivative (velocity and acceleration) continuous curves.
Inventors:
WEBB MICHAEL JAMES MORLEY (GB)
RAGAVAN JAYAN (GB)
RAGAVAN JAYAN (GB)
Application Number:
PCT/GB2002/002434
Publication Date:
November 06, 2003
Filing Date:
June 10, 2002
Export Citation:
Assignee:
QUIN SYSTEMS LTD (GB)
WEBB MICHAEL JAMES MORLEY (GB)
RAGAVAN JAYAN (GB)
WEBB MICHAEL JAMES MORLEY (GB)
RAGAVAN JAYAN (GB)
International Classes:
B25J9/02; B25J9/16; B25J9/18; G05B19/41; (IPC1-7): G05B19/41; B25J9/16; B25J5/02; B25J1/00
Foreign References:
| US5148091A | 1992-09-15 | |||
| US5227978A | 1993-07-13 | |||
| US5973678A | 1999-10-26 | |||
| US6131097A | 2000-10-10 |
Other References:
PATENT ABSTRACTS OF JAPAN vol. 011, no. 114 (M - 579) 10 April 1987 (1987-04-10)
PATENT ABSTRACTS OF JAPAN vol. 1995, no. 04 31 May 1995 (1995-05-31)
LUECKE G R ET AL: "Virtual cooperating manipulator control for haptic interaction with NURBS surfaces", ROBOTICS AND AUTOMATION, 1997. PROCEEDINGS., 1997 IEEE INTERNATIONAL CONFERENCE ON ALBUQUERQUE, NM, USA 20-25 APRIL 1997, NEW YORK, NY, USA,IEEE, US, 20 April 1997 (1997-04-20), pages 112 - 117, XP010235684, ISBN: 0-7803-3612-7
BECKER W: "VON DER FLAECHE ZUM VOLUMEN", FORM + WERKZEUG, HANSER FACHZEITSCHRIFTEN, DE, no. 1, 1 March 1997 (1997-03-01), pages 40 - 42, XP000698235
PATENT ABSTRACTS OF JAPAN vol. 1995, no. 04 31 May 1995 (1995-05-31)
LUECKE G R ET AL: "Virtual cooperating manipulator control for haptic interaction with NURBS surfaces", ROBOTICS AND AUTOMATION, 1997. PROCEEDINGS., 1997 IEEE INTERNATIONAL CONFERENCE ON ALBUQUERQUE, NM, USA 20-25 APRIL 1997, NEW YORK, NY, USA,IEEE, US, 20 April 1997 (1997-04-20), pages 112 - 117, XP010235684, ISBN: 0-7803-3612-7
BECKER W: "VON DER FLAECHE ZUM VOLUMEN", FORM + WERKZEUG, HANSER FACHZEITSCHRIFTEN, DE, no. 1, 1 March 1997 (1997-03-01), pages 40 - 42, XP000698235
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