Abstract: A system and method for providing multiple priority impedance control for a robot manipulator where impedance laws are realized simultaneously and with a given order of priority. The method includes a control scheme for realizing a Cartesian space impedance objective as a first priority while also realizing a joint space impedance objective as a second priority. The method also includes a control scheme for realizing two Cartesian space impedance objectives with different levels of priority. The method includes instances of the control schemes that use feedback from force sensors mounted at an end-effector and other instances of the control schemes that do not use this feedback.

Abstract: A system and method for controlling tendon-driven manipulators that provide a closed-loop control of joint torques or joint impedances without inducing dynamic coupling between joints. The method includes calculating tendon reference positions or motor commands by projecting a torque error into tendon position space using a single linear operation. The method calculates this torque error using sensed tendon tensions and a reference torque and internal tension. The method can be used to control joint impedance by calculating the reference torque based on a joint position error. The method limits minimum and maximum tendon tensions by projecting the torque error into the tendon tension space and then projecting ii back into joint space.

Abstract: A technique that determines the tension in a tendon using a conduit reaction force applied to an end of a conduit through which the tendon is threaded. Any suitable tendon tension sensor can be employed that uses the conduit reaction force for this purpose. In one non-limiting embodiment, the tendon tension sensor includes a cylindrical strain gauge element and a force member mounted to an end of the conduit. The force member includes a cylindrical portion having a bore and a plate portion, where the cylindrical portion is inserted into a bore in the strain gauge element. The tendon is threaded through the strain gauge element and the force member. A strain gauge is mounted to the strain gauge element and measures the reaction force when tension on the tendon causes the strain gauge element to be pushed against the force member.

Abstract: A fixture device generally includes a base member, a reconfigurable pad disposed on the base member, wherein the reconfigurable pad comprises a shape memory material configured to selectively conform to a surface contour of a workpiece, and an activation device in operative communication with the shape memory material.

Abstract: A system and method for self-piercing riveting including an alignment mechanism comprising laser diodes and sensors for facilitating alignment of a rivet gun and a back-up located on opposite sides of sheet metal parts to be joined, and an oscillation piercing technique for reducing force loads on structures, particularly robotic structures, carrying the rivet gun and the back-up.

Abstract: Disclosed herein is a programmable shim 28 for positioning a work piece 12 comprising a first plate 30; an optional reference frame 32; and an actuator 34 in operative communication with the first plate 30 and the reference frame 32. Disclosed herein too is a method of aligning a work piece 12 comprising disposing the work piece 12 upon a first plate 30 of a programmable shim 28; activating an actuator 34 with an external stimulus; wherein the actuator 34 is in operative communication with the first plate 30; and displacing the work piece 12.

Abstract: A fixturing apparatus for locating and supporting a panel, such as an automotive body panel is provided. The fixturing apparatus includes a support structure having at least three generally spherically shaped contactors. The panel includes at least three extending channels sufficiently configured to receive a respective one of the at least three generally spherically shaped contactors to locate and support the panel. At least one clamping arm is operable to selectively retain one of the at least three extending channels with respect to the respective one of the at least three generally spherically shaped contactors. A method of fixturing a panel employing the above described fixturing apparatus is also provided.

Abstract: A fixturing apparatus for locating and supporting a panel, such as an automotive body panel is provided. The fixturing apparatus includes a support structure having at least three generally spherically shaped contactors. The panel includes at least three extending channels sufficiently configured to receive a respective one of the at least three generally spherically shaped contactors to locate and support the panel. At least one clamping arm is operable to selectively retain one of the at least three extending channels with respect to the respective one of the at least three generally spherically shaped contactors. A method of fixturing a panel employing the above described fixturing apparatus is also provided.

Abstract: A tube bending apparatus adapted for the noncircular bending of a tube includes a modified bend die, a modified wiper die, a translatable and pivotable element and an actuator. The bend die presents a noncircular bending profile having a linearly or nonlinearly increasing radius of curvature. The wiper die is configured to accommodate the maximum radius presented by the profile, and the element and actuator present an inclined rack and pinion configuration. The bend die presents an involute of a circle having a radius equal to the product of the radius of the pinion and the sine of the angle of inclination, so that the bend die engages the tube at a fixed point in space during bending.

Abstract: A human vehicle interface for vehicle secondary controls includes a housing, an actuator grounded to the housing and having at least one degree of freedom, a follower coupled to the actuator and having a degree of freedom in the z direction, and a reaction plate having a first spatial relationship with the follower and defining a position path for the follower, wherein the actuator is responsive to the reaction plate at the first spatial relationship. The actuator includes a body and a control knob.

Abstract: A computer assisted method is disclosed for making an optimized layout of a manufacturing cell to be used, for example, to locate, hold and process workpieces, such as in robotic welding of an assembly of stamped sheet metal parts. The items to be processed and employed in the cell are identified by physical structure and kinematic characteristics and given an initial location to start the process. Further movements of the parts toward attraction points and away from repelling points are evaluated on the computer by an optimization program to arrive at an optimized cell layout.

Abstract: A human vehicle interface for vehicle secondary controls includes a housing, an actuator grounded to the housing and having at least one degree of freedom, a follower coupled to the actuator and having a degree of freedom in the z direction, and a reaction plate having a first spatial relationship with the follower and defining a position path for the follower, wherein the actuator is responsive to the reaction plate at the first spatial relationship. The actuator includes a body and a control knob.

Abstract: A hinge assembly for mounting to a body structure of a vehicle a movable closure panel granting access to a compartment. A compact area in the compartment is defined by a partition dividing from the passenger compartment, a leading edge of the closure panel and a raised floor in the compartment. The hinge assembly has a bracket mounted to the body structure in the compact area of the compartment and projecting under the leading edge of the closure panel. The bracket has a pair of plates each having a guide slot. A hinge strap is interposed between the two plates of the bracket and has an end secured to the closure panel near the leading edge. A first guide roller is carried by the other end of the hinge strap and is slideably received by one of the guide slots for slideable movement of the other end of the hinge strap relative to the body structure.

Abstract: Disclosed is drive apparatus especially useful for controllably displacing the carrier of a printer, the drive apparatus including a lead screw having laterally spaced apart and floating threaded followers thereon. Intermediate the threaded followers are a first pair of preloaded springs which press the followers against the opposite flanks of the threads on the lead screw to thereby inhibit backlash intermediate the followers. A second pair of springs are mounted intermediate a bracket, which is fastened to the carrier, and at least one of the followers for effecting coupling between the carrier and the follower while controlling backlash therebetween. A pair of arms extend from the followers and are coupled to a restraining shaft in such a manner as to inhibit rotational movement of the arms (and thus the followers) while permitting motion of the followers in any perpendicular direction to the lead screw to accommodate runout or eccentricity.