Abstract: A robot is disclosed having a plurality of movable links or members interconnected end-to-end in series. Associated with each is an actuator and position transducer. Some of the links are relatively massive and cannot be readily moved without power assistance when the robot is manually programmed, while other links or members, namely those constituting the wrist, are relatively lightweight which permits movement thereof without power assistance during manual programming. A force transducer is connected in series with the output element of the robot in association with one of the massive links located between the wrist and the stationary base on which the robot is mounted. The transducer senses forces during programming applied to the massive links via the wrist when manual programming forces are applied to the robot output. The force transducer provides an output signal for each of the massive links correlated to the component of the manual programming force transmitted thereto via the wrist.

Abstract: In order to improve the grip and remote handling of an object by an "artificial hand" (or "slave hand") remotely controlled by the hand of an operator, the artificial hand is provided with sensors for sensing tactile parameters. The signals produced by these sensors are applied to actuators associated with a "master hand" in the form of a glove in which the hand of the operator is inserted, and the actuators apply tactile sensations to the hand of the operator. The operator thus apparently "feels" the object, as if handling it directly. The remote handling device of the invention is particularly useful for handling objects in a dangerous environment (in the nuclear or chemical industries for example) or out of the reach of the operator (under water or in space).

Abstract: A portable load handling apparatus includes a vehicle having a frame, and an elongated boom arm connected to the frame for pivotal movement about at least a first horizontal axis. The boom arm may pivot about a first vertical axis and be extendable and retractable as well. A load support member is connected to the boom arm by a wrist mechanism for pivotal movement about at least first and second generally perpendicular axes and may be pivotal about a third axis perpendicular to the first and second axes. A primary power source is actuatable to pivot the boom arm about the first horizontal and vertical axes and to extend and retract the boom arm and a secondary power means is actuatable to pivotally move the support member about the first, second and third axes. A control mechanism includes a control arm connected to the frame for pivotal movement about at least a second horizontal axis, with the control arm preferably pivotal about a second vertical axis and extendable and retractable as well.

Abstract: A programmable automatic assembly system is provided which may be employed to assemble small parts. Each assembly station includes cooperating manipulator arms which are programmable to assemble parts on a centrally located work table. Improved facilities are provided for teaching the manipulator arms at each station, these facilities including a computer which assists the teaching operator in setting up the programs required for assembly of small parts to close tolerances. Each manipulator arm includes closed loop teach facilities for maintaining the arm at a previously located position during the teaching mode of operation. The computer is employed as a teach assist facility in performing a number of tasks during the teaching operation which are extremely difficult for the operator to perform manually. All of the assembly stations may be controlled during playback from a common disc storage facility so that the control circuitry and memory storage facilities at each manipulator are minimized.

Abstract: A multi-function end effector for performing operations on equipment located in areas where human access is limited comprises a vertical support capable of being supported in the equipment on which the operations are to be performed, such as a nuclear steam generator, along with a table attached to the vertical support. The table is capable of positioning tools in relation to the equipment and is capable of driving the tools. The table comprises a centering device for positioning the tools in proper relation to the equipment.

Abstract: An improved remote control master-slave manipulator of the type by which an operator working on one side of a protective barrier wall may perform work on the opposite side of that wall. The improved manipulator is characterized by a unique power assist tong system permitting increased handling capacity. It has a rotating counterweight system for improved balancing of the manipulator in its "Y" motion forwardly away from the operator. It has means for translating linear motion into rotary motion for transfer through the barrier wall and retranslation into linear motion. The wrist joint assemblies are remotely removable, replaceable and interchangeable as are the tong assemblies.

Abstract: A hand controller having a control handle member supported by a hexagonal array of three pairs of oppositely-angled force sensors provides for creation of control signals according to degree of input manual effort in any and all linear and rotary directions: left; right; up; down; fore; aft; forward; rearward; leftward and rightward; tilt moments; and clockwise and counterclockwise yaw moments.

Abstract: Visual system for determining position in space and/or orientation in three-dimensional space for purposes, for example, of directing or instructing an industrial robot to perform manipulative acts and apparatus employing the visual system. The system includes a portable object arbitrarily movable in three-dimensional space and possessing the discernible properties of position in space and/or orientation in space. One or more sensors extract visual information or image data from the portable object and convert the same to an electric signal or signals. A computer is connected to receive the signal or signals which are analyzed and, in the case of the industrial robot, the information obtained is used to prepare operating instructions.

Abstract: A method and apparatus are disclosed for modifying command signals representing predetermined positions of a machine element relative a workpiece as a function of measurable unprogrammed changes in the relative position therebetween. The machine element is responsive to a servomechanism circuit which in turn responds to a control device producing the command signals to command motion of the machine element to programmed points relative to the workpiece. The servomechanism circuit produces interrupt signals for transferring the command signals thereto. A measuring circuit is responsive to the unprogrammed change in relative position between the machine element and the workpiece and is operative to produce feedback signals representing the direction and magnitude of the change in relative position. A first circuit is responsive to the measuring circuit for producing a first signal representing a current unprogrammed change in relative position with reference to a predetermined point.

Abstract: A program control system is disclosed wherein the coordinates of a plurality of specified points of a prescribed path in the space to be traced by a manipulator assembly which are spaced apart from each other by a line segment of the same unit length are stored in a storage device in a teaching mode, and one set of coordinates of the adjacent specified points are simultaneously and sequentially read out from the storage device in a repeat mode so that the position command signals or coordinates of a plurality of interpolation points between the adjacent specified points are obtained by linear interpolation and are sequentially compared, at a predetermined time interval, with the actual or present positions of the manipulator assembly. The manipulator assembly is displaced at a velocity corresponding to the difference between the position command signal and the actual or present position signal so that the difference may become zero.