Abstract: A combination of a haptic device and a computer-assisted medical system is used for interactive haptic positioning of a medical device coupled to the haptic device. A reconfigurable haptic object facilitates the positioning of the medical device and/or the haptic device. The haptic object may be modified in response to application of a force against the haptic object by a user of the haptic device pushing the haptic device against the haptic object. Preferably, the haptic object moves in the direction of the force applied by the haptic device. The medical device may be guided to a desired pose relative to a target area from its current position. The user may approach the target area from its current position and still be provided with haptic cues to enable the user to guide the medical device to the target area.

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: The item-carrying system comprises: a robot comprising: a gripping portion for gripping an item; external force detecting means for detecting an external force applied to the gripping portion; opening-degree detecting means for detecting an opening-degree of the gripping portion; autonomous movement means; and receiving/passing motion deciding means for deciding a motion of the robot in an item receiving/passing operation, wherein the receiving/passing motion deciding means comprises: means for determining to start receiving an item that causes the gripping portion to start a receiving motion if the external force detecting means has detected an external force not less than a first predetermined value, when the gripping portion is not gripping an item; and means for determining the completion of a receiving motion on the basis of at least one of an external force and an opening-degree during the receiving motion.

Abstract: In a robot hand , at least one finger link thereof is configured to comprise a first member , a second member adhered to a surface of the first member and a third member covering at least the second member and a rigidity of the second member is made smaller than the rigidities of the first member and the third member. With this, the flexibility of the finger is improved by the second member, thereby increasing the contact area between the third member and a held object, so that the object can be securely held.

Abstract: The invention relates to an overload protection device (1) comprising a housing (2) which is designed to be fixed to a manipulation device. The overload protection device comprises a tool holder (3) for fixing a tool that is attached to the housing in a displaceable manner, a pre-tensioning unit (4) for generating a pre-tensioning force between the housing and the tool holder, the pre-tensioning unit being configured as a piston assembly with a pressure piston which can be loaded by a medium and with a switching unit (5) that operates by means of relative displacement between the housing and the tool holder. The switching unit has a least one electrically conducting switching surface (6) and at least one electrically conducting contact element (7) that can be brought into electrical contact with the switching surface, the switching surface (6) and the contact element (7) being provided on an opposing surface section (8) of the tool holder and the housing.

Abstract: A control apparatus (10) for a machining robot (1) adapted to machine a workpiece (20) by coming into contact with an effector (19) of a tool (18) attached to the machining robot with the workpiece comprises: detecting means (15) for detecting a force or moment acting between the effector of the tool and the workpiece; converting means (22) for converting the force or moment detected by the detecting means into a force or moment acting on the joint axis of the machining robot; deflection calculating means (25) for calculating a deflection occurring at the joint axis of the machining robot on the basis of the force or moment acting on the joint axis of the machining robot and obtained from the converting means; and correcting means (28) for correcting at least one of a position command or a speed command for the joint axis of the machining robot in such a manner as to compensate for the deflection calculated by the deflection calculating means.

Abstract: A gripping type hand including a plurality of finger mechanisms provided respectively with finger joints, actuators for driving the finger joints, and links supported by the finger joints and operating under driving force of the actuators. The gripping type hand includes an operation controlling section capable of respectively controlling the actuators of the plurality of finger mechanisms independently from each other; a position detecting section for respectively detecting operating positions of the finger joints of the plurality of finger mechanisms; and strain detecting sections provided respectively for the plurality of finger mechanisms and detecting strains generating in the links due to force applied to the finger mechanisms.

Abstract: A system and method of grip force feedback for use with a prosthetic device is provided in the present invention. The system can include a prosthetic hand having a plurality of digits for use with the prosthetic device. A force sensor can be provided to produce a force signal and the force sensor is configured to be associated with the plurality of digits for the prosthetic hand. In addition, a force feedback controller can receive the force signal from the force sensor. A force feedback actuator is also in communication with the force feedback controller. The force feedback actuator can provide feedback vibrations to a user of the prosthetic device.

Abstract: A tappet clearance automatic adjusting device comprising an adjusting unit for advancing/retracting an adjust screw from the forward end of a rocker arm and adjusting the projection amount, a torque detecting section for detecting the torque by rotating the adjust screw, and a control mechanism section for controlling the adjusting unit based on a torque value measured at the torque detecting section. The control mechanism section starts retracting the adjust screw when a valve is opened and continuously measures the torque value obtained when the valve is closed. A position, corresponding to time when variation in the filtering value obtained by smoothing the torque value through moving average is a threshold value or smaller, is detected as a reference point and the adjust screw is retracted from the reference point by a set amount.

Abstract: A robot hand able to change the manner of holding an object while force applied from a plurality of finger mechanisms to the object is adjusted without using an auxiliary finger mechanism. When force F3 is applied to object w from a certain finger mechanism 13 among the plurality of finger mechanisms 11 to 13 is changed, the operation of each finger mechanism is controlled such that a “contact” of each of the finger mechanisms 11 to 13 in the object w and an “application force vector” from each of the finger mechanisms 11 to 13 to the object w satisfy a “stable gripping condition”. The “stable gripping condition” is a condition in which (1) the sum of each of forces and moments applied from the plurality of finger mechanisms 11 to 13 to the object w becomes zero, and (2) a slip index fr becomes minimum.

Abstract: A load sensor that is inoperable even when applied with a large load, has a simple structure easily designed to be lightweight and compact and can detect a load with a high accuracy, and a legged robot apparatus including the load sensor in each of legs thereof. The robot apparatus includes the load sensors counting more than one and each of which detects, as an external force, a reaction applied when the leg abuts a ground surface. The load sensor includes a diaphragm, an activating member that is applied with an external force, a driving member forming along with the activating member a double structure and which presses the pressure-sensitive portion, and an elastic member.

Abstract: The present invention generally relates to an end effector that utilizes a gripping mechanism to grip a peripheral edge of the wafer and secure the wafer to the end effector. In one embodiment, the gripping mechanism includes a pair of gripper arms that pivot between a wafer-loading position and a wafer-engaging position. In another embodiment, an active plunger moves linearly between the wafer-loading and wafer-engaging positions. Both the gripper arms and the plunger device are driven by a motor assembly. A force feedback system monitors the force the gripping mechanism exerts on the wafer and, based on the amount of force, controls the operation of the motor assembly to dynamically adjust the position of the gripping mechanism.

Abstract: A medical system that allows a medical device to be controlled by one of two input devices. The input devices may be consoles that contain handles and a screen. The medical devices may include robotic arms and instruments used to perform a medical procedure. The system may include an arbitrator that determines which console has priority to control one or more of the robotic arms/instruments.

Abstract: A human-type link system, such as a humanoid robot having a dynamically feasible motion of the link system that is generated when a reference joint acceleration that is only calculated from a kinematical constraint condition is determined not feasible by an evaluation of external force computed based on an inverse dynamics calculation, or is generated by calculating from a dynamic constraint condition and a kinematical constraint condition simultaneously, the dynamic constraint condition is formulated by using an actuation space inverse inertial matrix that represents the relation of force acting on the link system and the acceleration of the link system caused by the force.

Abstract: A teleoperator system with telepresence is shown which includes right and left hand controllers (72R and 72L) for control of right and left manipulators (24R and 24L) through use of a servomechanism that includes computer (42). Cameras (46R and 46L) view workspace (30) from different angles for production of stereoscopic signal outputs at lines (48R and 48L). In response to the camera outputs a 3-dimensional top-to-bottom inverted image (30I) is produced which, is reflected by mirror (66) toward the eyes of operator (18). A virtual image (30V) is produced adjacent control arms (76R and 76L) which is viewed by operator (18) looking in the direction of the control arms. By locating the workspace image (30V) adjacent the control arms (76R and 76L) the operator is provided with a sense that end effectors (40R and 40L) carried by manipulator arms (34R and 34L) and control arms (76R and 76L) are substantially integral.

Abstract: A teleoperator system with telepresence is shown which includes right and left hand controllers (72R and 72L) for control of right and left manipulators (24R and 24L) through use of a servomechanism that includes computer (42). Cameras (46R and 46L) view workspace (30) from different angles for production of stereoscopic signal outputs at lines (48R and 48L). In response to the camera outputs a 3-dimensional top-to-bottom inverted image (30I ) is produced which, is reflected by mirror (66) toward the eyes of operator (18). A virtual image (30V) is produced adjacent control arms (76R and 76L) which is viewed by operator (18) looking in the direction of the control arms. By locating the workspace image (30V) adjacent the control arms (76R and 76L) the operator is provided with a sense that end effectors (40R and 40L) carried by manipulator arms (34R and 34L) and control arms (76R and 76L) are substantially integral.

Abstract: A robot hand finger makes a hooking movement similar to that of the human fingers with less number of driving units by installing a 4-joint link. A robot hand includes several fingers and 4-joint link in order to implement a horizontal movement of the fingers. A robot hand selectively drives a hooking movement and a horizontal movement of fingers with less number of driving units by having a clutch unit. A robot hand includes fingers with a strain gage and is able to control a grasping force by using a value measured by the strain gage.

Abstract: A system (10) for conducting an image-guided medical procedure on a subject (20) includes a medical imaging apparatus (100) which intermittently during the procedure obtains, upon demand, real-time medical images of the actual procedure. A robotic arm (200) hold a medical instrument (e.g., a biopsy needle (210)) that is used to perform the procedure. The robotic arm (200) manipulates the medical instrument in response to drive signals from a haptic control (400). A detector (e.g., a strain gauge (230)) measures forces experienced by the medical instrument during the procedure. The haptic control (400) generates the drive signals in response to manipulations of an input device (e.g., a knob (404) or an auxiliary instrument, such as, in the case of a biopsy, a remote needle (500)) by an operator, and the operator receives tactile feedback from the haptic control (400) in accordance with the measured forces experienced by the medical instrument. A display (e.g.

Abstract: An apparatus and process for controlling a remote robot responsive to the integrated sensory perceptions, natural body movements, inertia and gravitation of an operator/user who is himself responding to a three dimensional virtual world of visual and sensory conditions responsive to the environment at the remote site where the robot is operating. The user requires no training, special commands or devices to direct the robot because the user has the perception of actually being at the remote location, handling remote objects he sees and feels in his hands, walking, climbing, viewing and feeling the remote world.

Abstract: A robot operation teaching method and apparatus includes a three-dimensional measuring system that can measure spatial coordinates corresponding to points designated on camera images, a display able to show a space image from a camera or cameras overlaid by an image of a geometric model corresponding to the space image. A pointing device having at least two degrees of freedom is used to define work trajectories by preparing, in a model space, simple geometric elements corresponding to the actual space image. By using parametric modelling to supply definitions of geometric elements in advance, the geometric elements can be adapted for other tasks by modifying some of the geometric element assignments and parameters associated with the definitions.

Abstract: A force-controlling robot having a function of drawing a fitting part from a receiving part. A fitting part held by a robot hand is moved form an approach start position in a set approach direction under speed and force control. When the fitting part comes in contact with a receiving part and a reaction force thereof exceeds a set threshold value, the fitting part is moved under speed and force control with the set target speed and force and in the set inserting/fitting direction so as to perform fitting. If stoppage occurs before the fitting is completed, the fitting part is moved under speed and force control in the set drawing direction and with the set target drawing speed and drawing force, to draw the fitting part from the receiving part. As the drawing operation is automatically performed, restoration is automatically made without manual operation even if stoppage occurs in the fitting operation. Further, assembled parts can be automatically disassembled.

Abstract: A biologically inspired, multi-segmented robot is provided, wherein the biologically inspired, multi-segmented robot employs a logic-based technique to control mobility, rather than a mobility control technique that relies on complex mathematical models. The robot is biologically-inspired in that it employs certain artificial, anatomical and neuro-physiological features that are similar to features found in actual biological systems, including a host of artificial joints and muscle-like actuators. These anatomical and neuro-physiological features exhibit certain built-in, mechanical constraints, which provide mechanical feedback that is similar to the type of feedback that is inherent in genuine biological systems. In addition, the robot employs one or more sensors which are capable of measuring the status (e.g., the position) of the robot. A controller then uses the sensor data to activate functional groupings of the muscle-like activators to control mobility.

Abstract: A bridge surface preparation, maintenance and painting system has a truck-mounted man lift with an extensible platform on which robot arms and cameras are mounted. Inflatable bags isolate the area of the bridge being worked on, and an apron catches debris such as from sand blasting. An operator sits at a remote control console on a truck, directs the man lift platform into position, controls the inflating of the barriers and operates and guides the robot arms through master-slave controls while watching video displays. The machine is used for surface preparation, undercoating, finish coat painting and bridge inspections.

Abstract: A hybrid control system is provided for controlling the movement of a robot. The hybrid control system includes a singularity detector; a task level controller that receives a motion plan and determines a first set of control commands which are defined in a task space; and a joint level controller that receives the motion plan and determines a second set of control commands which are defined in a joint space. The singularity detector monitors the movement of the robot and detects robot movement in a region about a singularity configuration. When robot movement occurs outside of this region, the task level controller is operable to issue the first set of control commands to the robot. When the robot movement occurs inside of this region, the joint level controller is operable to issue the second set of control commands to the robot. In this way, the hybrid control system ensures feasible robot motion in the neighborhood of and at kinematic singularity configuration.

Abstract: A power assist apparatus includes an autonomously mobile base on which a manipulator for holding a load is mounted. The movement of the mobile base is controlled such that when the manipulator tip is within a prescribed operating region relative to the mobile base, the mobile base is maintained stationary, but when the manipulator tip moves outside the operating region, the mobile base is moved to decrease the distance between the mobile base and the manipulator tip. The power assist apparatus assists with the carrying of loads by amplifying an operational force applied to the manipulator.

Abstract: An input control device with force sensors is configured to sense hand movements of a surgeon performing a robot-assisted microsurgery. The sensed hand movements actuate a mechanically decoupled robot manipulator. A microsurgical manipulator, attached to the robot manipulator, is activated to move small objects and perform microsurgical tasks. A force-feedback element coupled to the robot manipulator and the input control device provides the input control device with an amplified sense of touch in the microsurgical manipulator.

Abstract: A handle module actuates handles of a user interface for various applications, including minimally invasive surgery (“MIS”). A modified MIS tool handle has two shafts that translate relative to each other upon relative motion of the handles. They also can rotate relative to each other. A housing engages both. The first is translationally fixed and rotatably free relative to the housing. An actuator actuates rotation of the first shaft. The second shaft is coupled to the housing such that it is rotationally fixed about and translatable along the axis of its elongation. The second shaft is fixed to a cartridge that is a linear capstan and translates relative to the housing, in response to relative translation of the shafts. A jaw action actuator is coupled to the cartridge through a cable drive, and can actuate the relative translation of the shafts, and thus, the handles. The jaw action actuator can actuate jaw action of a tool in a tool environment, either virtual, or actual.

Abstract: The invention relates to a protective device for a clean robot that includes a base 7 in which actuators 4 and 5 for driving a robot arm 3 are accommodated; a translational guide 8 for causing the base 7 to travel in a rectilinear direction; and a robot controller 10 that drives and controls the drive motor 4A and 5A of the robot arm 3 and an actuator 9 of the translational guide 8; wherein the protective device further includes acceleration sensors 11, which are disposed in the base 7 and are provided in respective axes so that they can detect an impact, when the clean robot 1 interferes with a surrounding substance, as vibration acceleration in the three-dimensional directions; an interference detecting device 13 that outputs a pulse when the detection signals of the acceleration sensors 11 of the respective axes exceed the threshold values that will become standards; and the first AND circuit that converts signals outputted from the interference detection means of the respective axes to interference signal

Abstract: A master device for generating motion instruction of the slave robot by sensing motion of the arm with fixed to the arm of the operator, and reflecting motion limit information by external force and physical articulation limit sensed by the robot may be simplified in a serial chain configuration so to solve problems of human fatigue and operational complexity in order to minimize dead weight of units mounted to the arm by concentrating and positioning the cylindrical rotating shaft members (44 and 45) near the body.

Abstract: A DSP of a servo control circuit obtains a movement value of a servomotor for each axis for each position-speed feedback processing cycle in accordance with a move command value for each axis delivered from a main processor with every distribution cycle, and also obtains a position correction value in accordance with pressure information detected by a sensor. The DSP of the servo control circuit carries out position-speed feedback processing with the use of a move command value which is obtained by correcting the movement value with the obtained position correction value, and drives the servomotor.

Abstract: An input control device with force sensors is configured to sense hand movements of a surgeon performing a robot-assisted microsurgery. The sensed hand movements actuate a mechanically decoupled robot manipulator. A microsurgical manipulator, attached to the robot manipulator, is activated to move small objects and perform microsurgical tasks. A force-feedback element coupled to the robot manipulator and the input control device provides the input control device with an amplified sense of touch in the microsurgical manipulator.

Abstract: The present invention is a method of controlling a robotic mechanism comprising both active and passive joints, where the motion of one or more of the passive joints is constrained by one or more constraints imposed on the mechanism by the environment, the mechanical construction of the mechanism or the nature of the task. The method is capable of controlling mechanisms with multiple sets of passive joints with multiple environmental constraints restricting the motion of the mechanism. In a preferred embodiment the novel method is used to control a surgical robot holding a surgical instrument inserted into a patient through a natural or man-made orifice.

Abstract: A master/slave system is used for performing a surgical procedure such as theterization of cardiac or peripheral vasculature. Movements of catheters or similar tools within a patient are remotely controlled by a surgeon, and the surgeon receives haptic or tactile feedback caused by the movement of the tools within the patient. The system employs a master actuator with cylindrical controls and a slave actuator that engages the tools. The master actuator and slave actuator are electrically coupled to electrical interface circuitry by drive signals and sense signals. A fluid system is coupled to the slave actuator by fluid-carrying tubes for the delivery of contrast and other solutions to be injected into the vasculature for improved imaging and also to pressurize the balloon on a balloon catheter.

Abstract: A device for depositing and withdrawing banknotes, in which the banknotes are conducted in a closed circuit between deposition and withdrawal is provided which includes an extractable drawer for the sorted reception of banknotes and extractable drawer for the sorted reception of banknotes and for various banknotes in different shafts, from which the respective banknotes can be drawn off mechanically. The device also includes a drawer having an openable bottom and at least one open or openable longitudinal side wall, via which a manipulator can be moved into the respective position in correspondence with the reception bins for individual banknotes. By displacement in the vertical or horizontal direction, the manipulator is able to grasp banknotes and deposit the same in a shaft arranged therebelow, wherein upon reopening of the drawer, only empty reception bins are released, the banknotes having been safely deposited in a safe.

Abstract: In an automatic medicament dispensing machine, a vial gripper mechanism includes a rotatable first jaw and a second jaw coupled with the output shaft of a jaw motor. In an open position, the jaws are spaced for receiving a medicament vial therebetween. Actuation of jaw motor rotates the second jaw toward the first jaw for gripping the vial therebetween in a gripping position. Continued rotation of the jaw motor causes rotation of both of said jaws and any vial gripped therebetween to a dispensing position for receipt of medicament into the vial from an adjacent dispensing cell.

Abstract: A robot gripper comprising a pair of gripper surfaces with flexible, non-elastic membranes disposed on each gripper surface respectively, these membranes being comprised of cubic cells filled with compressible fluid, so that when each gripper surface makes contact with the object to be lifted, they simultaneously compress and lift the object whereby the friction between the object and the gripper surfaces generates a shear force which distorts the membranes. As the compression and lifting forces are simultaneously increased, the distortion to the membranes will also increase until the pressure inside the cubic cells is large enough to provide sufficient friction force to lift the object.

Abstract: A manipulator with six degrees of freedom includes a moving plate having three points arranged with substantial equal angles therebetween, a fixed plate having three protruding portions arranged with substantial equal angles therebetween, the fixed plate being positioned under the moving plate and being spaced apart from the moving plate, and three frames rotatably mounted on the protruding portions, respectively, each of the three frames having a first and a second points opposite from each other about the protruding portion.

Abstract: A robot and associated control system, as well as a method of control, for servicing a heat exchanger having a substantially planar tube sheet which defines a multiplicity of laterally spaced tube openings of known shape, each of which is centered at a coordinate on a tube sheet coordinate system. A sensory system associated with the robot end effector and the associated digital processing system, includes a vision subsystem for generating an image of a portion of the tube sheet and generating a first signal commensurate with the spatial relationship of the tool to a selected tube opening. An optical subsystem is also provided, for projecting a structured light beam toward the tube sheet and receiving a reflected structured light pattern, indicative of how closely the tool is aligned with the target opening.

Abstract: A system for exerting a force, for instance a vertical upward lifting force of a predetermined tension vs. time waveform on a suspended object is useful in training the operators of shoulder-supported rocket launchers. The system includes an actuator for generating a required tensile force, a non-stretchable line or cable for connecting the object to the actuator and an overhead guide supported on an overhead support structure. The cable passes over the guide means defining a portion of the cable directly supporting the object. The position of the guide is controlled, in a response to a deviation from verticality of the portion of the cable with suspended object, before the activation of the actuator so that the verticality of the object lifting force is maintained. In operation, a predetermined force is exerted on the object regardless of whether the object moves as a result of the force.

Abstract: A method and apparatus for controlling a robot which performs an operation on an object while applying any desired force to the object, and a method of controlling automobile suspensions so as to maintain the contact between the automobile and a road surface appropriately. A robot controller which controls the motion of an end effector includes a rotating body, using an external force applied to the effector. The controller beforehand measures the tensor of inertia of the rotating body, calculates the angular momentum of the rotating body on the basis of a sensed value output from a unit for sensing the rotational speed of the rotating body and the tensor of inertia of the rotating body, calculates a gyro-moment occurring in the rotating body on the basis of a sensed value output from a sensor for sensing the motion of the robot and the angular momentum of the rotating body, and uses as a control input value the external force from a sensor for sensing value minus the value of the gyro-moment.

Abstract: The present invention is a low friction, low inertia, six-axis force feedback input device comprising an arm with double-jointed, tendon-driven revolute joints, a decoupled tendon-driven wrist, and a base with encoders and motors. The input device functions as a master robot manipulator of a microsurgical teleoperated robot system including a slave robot manipulator coupled to an amplifier chassis, which is coupled to a control chassis, which is coupled to a workstation with a graphical user interface. The amplifier chassis is coupled to the motors of the master robot manipulator and the control chassis is coupled to the encoders of the master robot manipulator. A force feedback can be applied to the input device and can be generated from the slave robot to enable a user to operate the slave robot via the input device without physically viewing the slave robot.

Abstract: A system for producing realistic tactile feedback forces in a tool operation simulator. Sensors sense the location and direction of movement of a simulated tool in a simulated landscape environment to produce electrical signals representing three dimensional location and direction of movement. These electrical signals are processed by re-programmable processors to produce control signals that are fed to pneumatic bi-directional piston-type actuators to impart realistic forces similar to forces that would be encountered in corresponding real-life movement of the simulated tool.

Abstract: A micromanipulator comprises an upper parallel linkage connecting a base member and an opposed middle plate by links, a lower parallel linkage connecting the middle plate and an opposed base plate by links, a first finger attached to the base member of the upper parallel linkage, a second finger attached to the middle plate and is arranged opposite the first finger, drive controllers provided on the links for effecting relative motions of the fingers and for positioning the fingers.

Abstract: A parallel gripper includes an electric motor; a threaded spindle connected to the motor to be driven thereby about a longitudinal spindle axis; a spindle nut threadedly mounted on the spindle for longitudinal travel therealong upon rotation of the spindle; a support block affixed to the nut; an arrangement for preventing a rotation of the spindle nut about the spindle axis; a mounting plate for accommodating a gripper jaw thereon; and a first, a second, a third and a fourth web coupling the mounting plate to the support block. The first and second webs are parallel to one another and are spaced in a direction parallel to the spindle axis; and also, the third and fourth webs are parallel to one another and are spaced in a direction parallel to the spindle axis. Further, strain gauges are mounted on the webs for emitting signals representing a bending deformation the webs undergo in response to a reaction force generated by a gripping force of the gripper.

Abstract: A control system in which an end effector of a robot is mechanically compliant for a particular object. The robot has multiple degrees of freedom and movement and includes a sensor which senses a velocity nd a sensor which senses an external force. A virtual compliance control method is applied to the robot. Influence of the weight and gyro moment of the end effector is subtracted from a value obtained from a mechanism which senses the external force to set a term of the external force in a mathematic model of the control system constructed during control. By such arrangement, when a rotational body having a mechanically large rotational momentum is set as the end effector of the robot, the control system is mechanically compliant with the object.

Abstract: A load stabilizing means for elongated objects grasped at one end and held vertically comprising gravity induced signals to hydraulic power and control means to correct deviations of the axis of the longitudinal object from the vertical. The preferred embodiment applies the invention to felling heads on light carriers.

Abstract: A method and apparatus for producing a video display that is especially useful in an article handling system to help control a mechanical arm to move an article into a selected position. A video camera is operated to produce a picture of the article on a video screen. At the same time, force sensor are used to measure forces on the article, and a graphical display of those sensed forces is produced on the view of the article on the video screen.

Abstract: Each of a plurality of digits within a reconfigurable end effector is both rotated and maneuvered for grasping by a single small motor coupled to a drive shaft for the digit through a load-responsive two-speed drive arrangement. The drive arrangement couples the motor directly to the drive shaft through a slip clutch for rapid digit positioning for light load or no load conditions on the digit, then alternatively through an oscillating sprag clutch arrangement for incrementing the drive shaft at a substantially different gear ratio for low speed, high force movement of the digit when substantial loads are encountered. High breakaway friction prevents back drive of the drive shaft without the need for braking apparatus. The motor also rotatably drives a turret in which the digit is mounted through a second slip clutch until a desired rotational position is reached.

Abstract: A tool fastening apparatus for industrial robots comprises a coupling unit attached to the arm of a robot and a coupling unit attached to a tool to be used with the robot. When the two coupling units are joined together, their relative position can be easily and accurately fixed by means of positioning couplings comprising ball rings carrying a set of annularly arranged balls slightly sticking out from the plane of contact between the two coupling units. Accurate positioning is achieved by bringing the balls on the two ball rings into engagement, which, in turn, is achieved by fitting each ball on one ball ring into between two adjoining balls on the other ball ring.

Abstract: Apparatus for gripping a workpiece such as a rotor is provided which includes gripper arms, a pressure-sensitive sensing member on one of the arms for continuously measuring the gripping force applied by the arms, and a piezoelectric actuator on the outer arm which is actuated to provide fine adjustment of the gripping force in dependence on the output of the sensing member.