Abstract: A robot system is disclosed comprising a robot having a plurality of articulated members, actuator jacks for effecting movements (locomotion or other operations) of the articulated members, and a data processing unit controlling the jack actuators. One articulated member is pivotally mounted about three separate axes intersecting at a first fixed point. Two jack actuators are provided for the one articulated member. Two ball joints articulate the jack actuators to the one articulated member about two points separate from and out of alignment with the first fixed point and two other ball joints articulate the jack actuators about respective second and third points also separate from and out of alignment with the first fixed point. The one articulated member comprises a perpendicular plate, the two points articulated to the jack actuators being disposed at the plate and the axes of the two jack actuators lying in mutually perpendicular planes.

Abstract: A robot of the type having a housing and a manipulator mounted to the housing and movable along a plurality of predetermined axes of movement. A drive mechanism is associated with the each axis of movement for moving, upon actuation, the manipulator along its respective axis of movement. The actuation of the drive mechanisms is controlled by a program drum which is rotatably mounted to the housing. A plurality of cam segments are adjustably secured to the drum at both axially and circumferentially spaced positions thus forming a plurality of axially spaced, segmented cam rings. A plurality of cam followers are secured to the housing so that one cam follower registers with each cam ring. Each cam follower is connected with an actuator so that, when the cam follower engages a cam segment on the drum, the actuator activates the drive mechanism corresponding to the particular cam ring. Conversely, the actuator deactivates its associated drive mechanism when the cam follower disengages from the cam segment.

Abstract: A hand of a robot is moved from an instant position P.sub.1 to a first command position P.sub.2 to grip one of the workpieces W.sub.1, W.sub.2, W.sub.3 placed at the first command position and conveys the same to a second command position P.sub.3. As a sensor is contacted by the workpiece when the hand takes an intermediate position Px, on its way from the instant position P.sub.1 to the first command position P.sub.2, the robot control system decelerates the hand without delay or after a travel of the hand over a predetermined distance and, after travel of the hand over a predetermined deceleration distance, stops the hand. The hand is then moved from the stopping position to the second command position P.sub.3 neglecting the remaining stroke or movement between the stopping position and the first command position.

Abstract: An apparatus for fetching a component part, with the apparatus including a finger unit pivotally supporting a plurality of fingers adapted to catch a component part. A first detection unit detects a catch of a component part and a first drive opens or closes the fingers. A holding unit swingably supports the finger unit and has a slider which is slidable in a horizontal direction by a drawback force. A second detection unit detects the slider at an end of the sliding motion. A moving unit supports the holding unit and moves the holding unit at least in the vertical direction by a second drive. A drive control is provided for controlling the first and second drives in accordance with signals produced by the first and second detection units so as to enable a catching of the component part.

Abstract: In accordance with the present invention an industrial robot (10) having a lifting or gripping arm (16) is provided with electrical switch means (44) whereby if a work piece extends too far into the lifting or gripping portion the machine is automatically turned off. In accordance with another feature of the invention, shear means (54, 56, 58, 60, 62, 64) are provided in the lifting or gripping arms (30, 32) whereby if one or both arms abut an obstruction with sufficient force, the arm will shear off causing only minimal damage to the robot and protecting valuable gear mechanisms and control apparatus.

Abstract: A robot hand provided with fingers driven by a double acting cylinder and supplied working liquid pressure through two, 2-position, 5-port-type, single solenoid, electromagnetic valves, wherein: (a) an outlet of a first electromagnetic valve is connected with the inlet thereof in response to the ON position of the solenoid thereof and is connected with the inlet of a first chamber of the double acting cylinder; (b) an outlet of a second electromagnetic valve is connected with the inlet thereof in response to the OFF position of a second chamber of the double acting cylinder; (c) an outlet of the first electromagnetic valve is connected with the inlet thereof in response to the OFF position of the solenoid thereof and is plugged; (d) an outlet of the second electromagnetic valve is connected with the inlet thereof in response to the ON position of the solenoid thereof and is plugged; and (e) a working liquid pressure source is connected with the inlet of the first and second electromagnetic valves.

Abstract: A system to measure geometric and electromagnetic characteristics of objects. Wave energy of a single frequency (or very narrow band of frequencies) is directed upon an object which reflects (or otherwise interacts with) the wave energy. The reflected wave energy is sensed by many spatially spaced sensors to provide electric signals whose amplitude and phase components are combined to give a quantity from which geometric and/or electromagnetic characteristics of the object can be ascertained.

Abstract: Apparatus is disclosed for locking the wrist links of a teaching robot and a work robot such that the wrist links of the work robot occupy the same relative positions with respect to each other as the wrist links of the teaching robot, thereby enabling the magnitude of the outputs of the corresponding wrist link position transducers of the work robot wrist and the teaching robot wrist to be equalized and the robot wrists calibrated.

Abstract: The invention is a flexible gripper for industrial robots and the like through the use of articulated ball joint linkages and an industrial brake. The gripper can orient itself to an object and adapt to irregular surfaces while engaging the object. In other words, the gripper matches the orientation of the grasped part. With the object so engaged, the gripper is locked rigidly so that the orientation of the part is preserved as it is manipulated by the flexible gripper and its associated robot.

Abstract: Positional information about movable components in a machine system relative to the workpiece is wirelessly transmitted by infrared radiation to a remote receiver. The receiver is operative to convert the infrared signals into electrical signals for controlling operational cycles of the machine system.

Abstract: Apparatus for adapting a general purpose end effector device (10) to a special purpose end effector (A) is disclosed which includes an adapter bracket assembly (B) which provides a mechanical and electrical interface between the end effector devices. The adapter bracket assembly (B) includes an adapter connector post (46) which interlocks with a diamond-shaped gripping channel (28) formed in closed jaws (18) and (20) of the general purpose end effector (10). The angularly intersecting surfaces of the connector post and gripping channel prevent any relative movement therebetween. Containment webs (42, 44) constrain the outer finger plates (22a, 22b) of the general purpose jaws (18, 20) to prevent pitch motion. Electrical interface is provided by conical, self-aligning electrical connector components (60, 62) carried by respective ones of said end effectors (A, 10).

Abstract: A robot for purposes of production and/or assembly comprises an arm carrying a holder for a tool, operating device or the like and being movable in three dimensions in consequence of appropriate guides. The holder itself can have various degrees of freedom through arrangement of hinges, rotational axes or the like and all holder movements for individual operating processes may be programmable. The holder is connected indirectly or directly to the arm through a double parallelogram linkage integrated into one unit, wherein the parallelogram linkage rod pairs extend obliquely one to the other, and a pivot angle displacing mechanism is associated with this linkage.

Abstract: Changeable finger tools for the gripper of an object manipulator are held in place by a self-releasing detent supplemented by frictional forces produced by the gripper. The retention technique enables fast, efficient automatic changing of the finger tools.

Abstract: A system for automatically assembling or processing a large variety of parts of different weights. The system has a first industrial robot whose end having at least three degrees of freedom for movement in horizontal and vertical planes, and a second industrial robot whose end having at least three degrees of freedom for movement in horizontal and vertical planes. The first and second industrial robots are connected to each other by connecting means which carries a sensor adapted to sense the difference of vertical position between the connecting ends of the first and second industrial robots. The operation of the first and second industrial robots is under the control of a controller. The first industrial robot is operated by an instruction given by the controller, while the second industrial robot is operated to follow-up the movement of the first industrial robot, in accordance with the signal derived from the sensor.

Abstract: Described is a robot having a proximity sensor which is based on the reentrant-loop magnetic effect. In one embodiment this sensor in a robot hand can detect the position and orientation of magnetized objects within about a 5 cm range, independently of the speed of approach.

Abstract: A cut out device located between the arm of a multi-axis robot and a supported work tool for disabling further movement of the arm of the robot when the work tool encounters an improperly positioned part and is constrained by such part from moving to its next programmed position.

Abstract: A device for operating a hand of an industrial robot is so constructed that fluid pressure cylinders (43, 44) are provided as a driving mechanism of the hand (4) of the industrial robot, branch passages including a pressure-reducing valve (47) are provided in a fluid supply passage to the fluid pressure cylinders (43, 44), the supply of fluid is switched by solenoid valves (SV.sub.2, SV.sub.3, SV.sub.4), and the switching of the solenoid valves (SV.sub.2, SV.sub.3, SV.sub.4) is carried out in accordance with the selected grasping force which has been selected in the teaching mode of the industrial robot, whereby the grasping force of the hand can be controlled stepwisely.

Abstract: An industrial robot control method and apparatus having a pulse distributing circuit for executing a pulse distribution operation on the basis of positional command data from taught data to generate distributed pulses, a pulse coder for generating a feedback pulse each time the industrial robot moves a predetermined amount along the Z-axis, an error register for storing the difference between the number of distributed pulses and the number of feedback pulses, and positional control circuitry for positionally controlling the industrial robot in such a manner that said difference approaches zero, compensation being effected for an amount of bending .DELTA.Z of an arm when a workpiece of weight W is gripped. The industrial robot control apparatus includes a memory for storing an amount of bending .DELTA.Z.sub.o of the arm when a workpiece having a predetermined weight W.sub.o is gripped at an arm length l.sub.o, an arithmetic circuit for computing an amount of bending .DELTA.

Abstract: A part feeding and assembling system comprises a bowl feeder composed of storage container for storing parts to be assembled and a transporting track for transporting the parts in a row, the transporting path having an end opened in the interior of the container, a visual recognition apparatus for imaging the parts being transported, determining whether the part as imaged is proper for assembling currently carried out, and recognizing position and direction of the proper part, and a robot for picking up the proper part by generating pick-up position data of the robot on the basis of the data representative of the position and direction of the proper part and assembling it to a part to be assembled at other station. The robot picks up only the proper part from those being transported. The bowl feeder introduces the improper parts to the container through the opening so that they are again placed on the transporting path for being recirculated.

Abstract: A gripper device having a body formed with a piston chamber in which a piston is reciprocally mounted. Connected to the body are a pair of spaced fingers. A cross bar is connected to the piston and oppose toggle links interconnect the ends of the cross bar to the adjacent fingers so that actuation of the piston effects the operation of the fingers between an open and closed position. A first sensor device is disposed between the fingers to measure the lateral distance therebetween, and a second sensor is disposed between the body and a movable cap supported thereon to measure longitudinal displacement between the cap and associated body.

Abstract: This invention pertains to pins carried by and in a retainer head member with the pins actuated when and as the head member and an associated contact member reaches the outermost portion of a paperboard member whereat the pins are caused to move obliquely to this surface and penetrate the paperboard sufficiently to engage and retain the paperboard. These pin ends by latch members are maintained in the desired penetrating position during transfer. This latch is actuated to release the projected pins when transfer is completed. The paperboard is conventionally of corrugated paperboard construction and the extent of pin end protrusion is carefully controlled so that the pin ends in the penetrating position do not protrude and penetrate the rear panel or wall of the paperboard so that only one penetrated paperboard member is transferred. The embodiments shown are adapted for use with paperboard which is not supple or flexible as is cloth or leather.

Abstract: A remote manipulator for a robotic system has a plurality of intercoupled manipulator links and a principal manipulator drive unit coupled to manipulate the remote position of an end-effector supported by said links in response to a manipulator control signal. Coarse adjustment of the end effector is refined by a precision control subsystem which augments the principal manipulator to achieve a "control-in-the-small" robotic manipulator system. The augmenting precision-achieving subsystem includes a coupling mechanism, coupled with one of the links, for establishing the position of one of the links relative to another link, and a precision adjustment device, associated with the coupling mechanisms for adjusting the position of the one link relative to another link as established by the coupling mechanism, independently of the action of the principal manipulator drive unit and effectively without bearing the load supported by the one of said links.

Abstract: An arrangement for controlling movement of the grab bucket of a grabbing crane used for loading and unloading bulk material into and from ships is disclosed. Collisions of the grab bucket with the ship's superstructure and the hatch edges are avoided according to the invention by approaching the hatch edges with the grab bucket open and displaying the actual values so obtained as bars representing the horizontal position and width of the hatch on a display. To avoid collisions, the grab bucket drives are switched off if any desired value, set manually or by a marking line computer, exceeds an actual value.

Abstract: Apparatus for removing fiber bales arranged in a row which includes a plurality of spaced generally vertically disposed supports, a pair of spaced generally parallel rails carried by these supports at positions spaced above a surface upon which the fiber bales are arranged in a row, an elongated vertically disposed carriage having upper and lower end portions, the carriage being suspendingly supported by rollers in its vertically disposed position, one of these rollers being driven to move the carriage along the rails, a slide vertically reciprocated upon the carriage, a generally horizontally disposed bracket carried by the slide, the bracket being in overlying relationship to a fiber bale therebeneath, and grabbing fingers carried by the bracket for grabbing fiber from the fiber bale therebeneath.

Abstract: A system for sensing the size of electronic components processed within a machine for placing components on a media such as a printed circuit board. The size of a component is determined at a sensing station and the component is thereafter precisely positioned according to its size relative to a placement head. The placement head picks up the thus positioned component and places the component on the media.

Abstract: Apparatus for placing a first element at a receptacle location on a second element, there being associated with the precise receptacle location some known variation in the shape of the second element, the apparatus comprising a support member for supporting the first element while the member is translated toward the second element along a placement direction, a first transport device for moving the support member or the second element along a direction transverse to the placement direction, and a sensing device located on the support member for sensing the relative alignment along the transverse direction of the support member and the variation in shape, the sensing device comprising an energy-beam source adapted and positioned to direct an energy beam along a path that interacts with the variation in shape at least when the support member and receptacle location are aligned so that more of the beam is transmitted along the path when the member and receptacle location are aligned than when the member and rece

Abstract: An apparatus and procedure for locating three-dimensional bulk-loaded objects for purposes of controlling a gripping terminal, including at least one optical projection system associated with drive mechanisms commanded by an interface connected to a central processing unit, and a light sensor such as a TV camera mounted plumb with the surface (horizontal, for example) receiving the bulk load and connected to the analysis and processing mechanisms of the central processing unit. The optical system emits a substantially planar light bundle which sweeps the surface of the bulk load under the control of the drive mechanisms to vary incrementally the angle .theta. made by the bundle with respect the aforementioned surface. The value of the angle, measured by a coder, is transmitted to the central processing unit which analyzes the image of the bundle trace sensed by the camera.

Abstract: A double-hand unit adapted to be secured to the wrist part of an industrial robot and to be used for gripping shaft works or the like is disclosed. The double-hand unit comprises two hand units (2, 3) comprising at least two pairs of fingers (2-1, 2-2 and 3-1, 3-2), respectively, and being disposed in a back-to-back relationship with the respective opening sides of the fingers directed in opposite directions with each other. The driving mechanisms for operating the associated fingers of the hand units (2, 3) are disposed one over the other along a plane including the fingers.

Abstract: A robotic height sensor employs the defocussing of a spot of light to detect the motion of a probe contacting a reference object. The defocussing changes the electrical output of a photodetector which output is used to control a height drive mechanism. In a preferred embodiment of the invention, an intentional weakened portion of a shaft is provided for permitting limited lateral freedom of the shaft to accommodate minor irregularities in a workpiece.

Abstract: An apparatus for discharging radioactive waste from its container comprises a truck movable toward and away from the container by a driving motor, a seizing member including claws capable of closing and opening to seize and release the radioactive waste little by little, a cylinder connected to the seizing member for closing and opening the claws, a further cylinder for tilting the seizing member downwardly to eject the seized waste and a detector for detecting pressure caused by the seizing member penetrating into the waste when the truck is driven toward the container by the driving motor to produce signals for stopping the truck and operating the first mentioned cylinder to close the claws. The apparatus safely and securely discharges little by little the radioactive waste filled in the storage container without any risk of exposing operators to the radioactive radiation emitted from the waste, thereby saving time and labor and making easy next processes for burning it.

Abstract: A multi-lead component manipulator for the assembly of circuit boards has optical and tactile feedback systems and includes at least two and preferably three symmetric assemblies radially disposed about a component gripper assembly. Each symmetric assembly has a movable lead guide means for engaging a component lead and aligning the same for circuit board insertion. The guide means are adapted for independent arcuate and radial motion reflective of the optical feedback system and the gripper assembly is capable of axial movement for the acquisition and insertion of components. The tactile feedback system controls component insertion. The manipulator in an alternative embodiment has fixed guide means disposed above the movable guide means. The fixed guide means orient the component leads for acquisition by the movable guide means.

Abstract: A tool changer, for a facing head mounted on the spindle of a machine tool and which supports at least one tool holder slidingly movable at right angles to the axis of the spindle, comprises a tool changer arm, a slide device turnably supporting the changer arm and movable itself at right angles to the axis of the spindle, and means elements for sensing the arrival of the tool holder into contact therewith so as to set the changer to the tool changing position.

Abstract: A multi-axis robot wrist assembly having three hydraulically operated rotary actuators which are mechanically connected in series such that the output of each actuator drivingly positions the body of the succeeding actuator located outboard thereof. The hydraulic connection to any wrist actuator, except the innermost actuator, includes a series-connection of (a) internal passage(s) through actuator(s) which are located inboard of the actuator in question and (b) external line(s) between the actuator in question and actuator(s) located inboard thereof. By connecting all but the innermost wrist actuator through hydraulic paths which are at least partially internal to actuators positioned inwardly thereof, the overall envelop of the wrist assembly is reduced.

Abstract: The gripping apparatus described comprises a four-bar linkage arrangement for so controlling movement of the two pairs of parallel beams and fingers operatively connected thereto as to cause the gripping surfaces of the fingers to concurrently move in rectilinearly aligned paths and remain parallel throughout their excursion during gripping and releasing of an article and apply a constant gripping force to the article irrespective of the extent to which the fingers are moved toward each other into gripping contact. The beams are pivotally connected directly at their one ends, and also intermediate their ends via links, to a fixed member; and the beams at their opposite ends have a pin-in-slot connection with the fixed member. When force is applied to the links to operatively cause the fingers to grip the article, the links will rock and the arc described by each beam will be accurately cancelled by the arc generated by each link.

Abstract: A device for causing a first object to perform a given, desired displacement determined by a second, fixedly arranged object that is to say, a translation and/or a rotation, particularly intended for assembling objects in industrial production processes, said device comprising a positioning means for moving the first object into a desired position with respect to the second object, comprising an auxiliary body designed for carrying the first object and journalled in a manner such that it has a plurality of degrees of freedom in displacement, driving means for each degree of freedom, a force measuring member for each degree of freedom for measuring the counter-force exerted on the first object during the displacement according to the degree of freedom concerned, feedback means between each force measuring member and the corresponding driving means, wherein the functional relationship between the displacement of the auxiliary body in accordance with a degree of freedom and the relevant counter-force is adjustab

Abstract: An articulated robot comprises one or more articulation angles that can assume two states on the occasion of the same position or attitude of an object being controlled. A change from one to the other of the above described two states is taught by operating an operation panel and the respective driving means of two arms constituting one articulation angle are controlled based on the above described teaching information so that the articulation angle may be changed from one state to the other state, whereby rotation of the respective arms is controlled.

Abstract: Damage to tools and/or equipment (such as measuring equipment) mounted on industrial robot systems or other positioning systems tending to drop when electrical power is cut off, is eliminated by auxiliary equipment which prevents such dropping.

Abstract: An electronic parts mounting apparatus using a band carrier for feeding electronic parts incrementally, the carrier being a strip having many recesses disposed at equal intervals each holding an electronic part and a tape covering the recesses. The apparatus has a support for horizontally supporting the carrier with the coating tape on the top side; a separator for separating the tape from the carrier; and a pickup device for picking up the electronic parts one by one from the recesses in the carrier and by carrying the electronic parts and placing them in position on a circuit board for continuously and stably mounting the electronic parts on the circuit board.

Abstract: A pressure control mechanism for the hydraulic control system of a log skidder. Hydraulic circuits for the boom and the grapple of a log skidder are interconnected to provide a pressure control mechanism for the grapple of the skidder. Provided in the interconnecting hydraulic lines for the grapple cylinder and the boom cylinder, between the rod end of the boom cylinder and the base end of the grapple cylinder, is a two-way valve and a check valve. This mechanism provides flow from the boom cylinder to the grapple cylinder. The weight of the load pressurizes the boom cylinder and this pressure is transferred to the grapple cylinder.

Abstract: The invention deals with a gripping mechanism which is pivotable about an axis having a horizontal component, in particular a welding tong, with gripping members which can be moved toward one another, between which a workpiece can be clamped, and with a clamping drive, which is supplied with energy from an energy source and produces relative movement between the gripping members. An angle indicator determines the angular position of the gripping mechanism with respect to a vertical reference and a modulator responsive to an output signal of the angle indicator is connected between the energy source and the clamping drive and regulates the energy supplied to the clamping drive in dependence on the position of the gripping mechanism with respect to the vertical reference, so that the gripping members are held closed with a clamping force which is dependent in a predetermined manner on such angular position.

Abstract: A mechanical hand for use with a door-opener and having a pair of pivotable members, one of which is insertable into the window pane slot of a vehicle door, and the other of which engages the inner panel of the vehicle door so that the latter is capable of being opened and closed by the door-opener.

Abstract: A gripping device on an industrial robot is provided with a plurality of light-emitting members for generating a plurality of light beams that intersect at predetermined angles, and with a plurality of light-receiving elements for receiving the light beams. When the gripping device moves relative to an object that is to be gripped, the object intercepts the light beams, on the basis of which the position of the object relative to the gripping device is detected. This permits even an object which is not precisely located at a predetermined position to be gripped accurately by the gripping device following detection of the object position.

Abstract: A machining center comprising a tool spindle, a tool magazine, a tool shuttle assembly for transferring tools between the tool spindle and the tool magazine including rail means, a tool change mechanism including a carriage, means for mounting the carriage on the rail means for displacement therealong, a dynamically brakeable motor for driving the tool change mechanism along the rail means in a selected direction, means for stopping the tool change mechanism driven in the selected direction including first proximity switch means secured to the carriage at a selected spacing from the rail means for maintaining the condition of the proximity switch means as the carriage is displaced along the rail means, opening means in the rail means at a selected location for changing the condition of the first proximity switch means as the carriage means is displaced in the selected direction along the rail means, second proximity switch means secured to the rail means, the tool change mechanism including a projecting eleme

Abstract: An experimental robot system using vision and a parallel jaw gripper acquires randomly oriented cylindrical workpieces piled in bins. Binary image analysis guides the gripper into multilayered piles of workpieces. Complementary information is provided by sensors on the gripper.

Abstract: An apparatus is disclosed for modifying the motion of a tool centerpoint associated with the function element of a robot arm. The motion to be modified is produced during an automatic mode of operation in which the tool centerpoint travels along predetermined paths between programmed points at a programmed velocity. The apparatus is effective to modify the motion during the automatic mode in response to sensed deviations from the predetermined path. Two alternative schemes of modifying the motion are disclosed. A first alternative scheme returns the tool centerpoint to the predetermined path before it reaches the programmed point defining the end of the path. A second alternative scheme produces a new end point offset from the programmed end point and effects motion along offset paths which are translated and rotated from the predetermined paths defined by the programmed points.

Abstract: A robot assembly for acquiring unorientated workpieces from a bin. A sensing system views the bin and collects data. A computer analyzes the data to determine candidate holdsites on the workpiece. The hand of the robot assembly then engages a workpiece at a selected holdsite. The workpiece is moved to a pose where the position and orientation of the workpiece are determined. After this determination, the workpiece may be disengaged, or moved to an intermediate or final goalsite. The method is applicable to workpieces that have six continuous unknown degrees of freedom. Furthermore, partial occlusion of the workpiece by the robot hand is allowed.

Abstract: An automatic grip control circuit for a grapple mechanism providing a first pilot circuit to actuate a main hydraulic valve which operates the grapple cylinder and a second pilot circuit to actuate a grip control valve which causes excess fluid to dump to tank when the pressure is too high or directs fluid to the first pilot circuit to reactivate the main control valve to increase pressure on the grapple cylinder when the pressure is too low. The automatic grip control circuit automatically senses changes in pressure to maintain adequate gripping pressure on logs held within the grapple tongs.

Abstract: A hydraulic system (10) for a log grapple device (12), including an unloader valve (20) and an accumulator (22) located downstream of a control valve (18) which determines the direction of fluid flow to the actuating cylinder (108) controlling the opening and closing of the grapple device. When a predetermined operating pressure is reached the unloader valve diverts outlet flow from a pump (16) to a reservoir (14) and isolates the system downstream of the unloader valve, the accumulator maintaining pressure on the grapple device. When the grapple device is to be opened, a pilot check valve assembly (60) within the unloader valve permits reverse flow through the unloader valve.

Abstract: A calibration fixture is disclosed for calibrating the link position transducer output signals of a teaching robot and a work robot such that when the links thereof occupy the same identical spatial position and orientation, the magnitudes of the corresponding link position transducer outputs of the work and teaching robots will be the same.

Abstract: An apparatus attached to a motor driven manipulating instrument for detecting and identifying specific forces employed in moving the instrument along a predetermined spatial track. The apparatus includes a center portion rigidly attached to the manipulating instrument and a sleeve member surrounding the center portion. A plurality of separate, flexible blades join the sleeve and center portions to each other, with a separate transducer fixedly attached to each flexible blade and capable of detecting bending forces employed to move the sleeve and attached instrument. The transducers generate output signals indicative of the magnitude and direction of the forces, which signals are used for establishing a program for controlling the actuation of the various motors to allow the instrument to repeatedly execute the course set forth in the program.