Document Type

Patent

Publication Date

12-29-1987

Patent Number

patent number 4715773

Abstract

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.

Application Number

06/872219

Assignees

Clemson University (Clemson, SC)

Filing Date

1986-06-09

Primary/U.S. Class

414/730

Other/U.S. Class

318/568.21, 414/800, 700/245, 700/260, 901/9, 901/34

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