Abstract: A six degree of freedom grabbing apparatus (20) allows normally open jaws (22) to be positioned in a desired location and orientation relative to a work platform (19), whereupon a single control locks the grabbing apparatus is the desired location and orientation. The jaws (22) are secured to the end of an arm (24). The arm (24) is attached to a shoulder joint (26). The shoulder joint allows the arm to rotate (37) and pitch (38). The shoulder joint is secured to a base unit (28), which base unit is slidably and pivotally connected to the work platform (19, 80), allowing the base unit (and hence the shoulder joint and arm) to move in the same plane, e.g., the x and y directions, as the work platform, and further allowing the base unit, shoulder joint and arm to yaw (39) relative to a given position on the platform. Six degrees of freedom are provided by the apparatus; jaw closing/opening; pitching, rotating, yawing, moving in the x direction, and moving in the y direction.

Abstract: A two arm robot for selectively manipulating a workpiece comprising an elongated cross beam assembly having an elongated axis extending between opposed ends, a frame assembly supported by the cross beam assembly for selective linear movement parallel to Y and Z axes and for selective pivotal movement about the elongated axis, the elongated axis being parallel to the X axis and the X, Y and Z axis being orthogonal, a pair of arm assemblies supported by the cross beam assembly for selective independent linear movement parallel to the X and Y axes, a wrist assembly operatively supported by each arm assembly and including a motor for selectively moving the wrist assembly about a rotation axis parallel to the Z axis, and motor and mounting structure for moving the arm assemblies relative to the cross beam assembly parallel to the X and Y axes.

Abstract: A substrate transfer device containing an arm support member for supporting plural substrate support arms at one ends thereof, said arms having substrate housing areas at the other ends thereof, a structure arranged on a base to freely move in the longitudinal direction of the substrate support arms while holding the arm support member, another arm support member for holding a substrate support arm at the other side of the first arm support member, a structure arranged on the base to freely move in the longitudinal direction of the one substrate support arm while holding the arm support member for one substrate, a structure for moving the base up and down, and a structure for moving the base in a direction perpendicular to the substrate support arms on a plane parallel to the plane in which the substrate support arms are included.

Abstract: In a robot having a servo control section for driving an actuator, an arithmetic operating unit, memories, and input and output devices, a method and apparatus provide teaching data from one robot to another. First, there is detection of mechanism errors peculiar to a particular robot of interest. Standard position information obtained from the result of a teaching operation and compensation of the mechanism errors of another robot is used with the mechanism errors of the particular robot to calculate the corrected standard position information (teaching data for the particular robot). This information is derived by subtracting the mechansim errors of the particular robot from that standard position information to produce the teaching data for the particular robot.

Abstract: A force feeling type master/slave manipulator detects a positional difference, a speed difference, and a force difference between the master and slave machines. The position difference and force difference are combined in a weighted manner and the output is used to drive an actuator on the control lever of the master machine to provide a force feeling feedback effect. The position difference is also combined in a weighted manner with the speed difference and the speed of the working machine to provide a sum value. The load force is subtracted from the sum value and the result is used to provide a signal for driving the actuator of the working machine. As a result, stable operation of the control lever is provided, natural vibration of the working machine is reduced and the working machine is stabilized against large inertial loads.

Abstract: A method for modifying an existing production line apparatus for adaptation to a new type of workpiece, when the apparatus includes a standardized general-purpose member and a special-purpose member which is exchangeable according to type of workpiece to be handled. A master apparatus is prepared which is mechanically identical with the general-purpose member. A special-purpose member is made that is compatible with a new type of workpiece. The special-purpose member is attached to the master apparatus and a trail operation is performed. Programming data from the trail operation necessary for operating the special-purpose member, and including teaching data for the general-purpose member are prepared and stored in a memory of the special purpose member. The programmed special-purpose member is then to attached to the general-purpose member and the production line apparatus having now incorporated the special-purpose member is operated according to the programming data.

Abstract: A generally anthropomorphic prehensor having at least two mechanical finger apparatus which interface directly with an object being grasped by apparatus of mechanical linking and control mechanisms operatively connected to the operator's fingers. Each mechanical finger has at least two finger links adjacent one another, each finger link independently rotatable about parallel axes in a plane of movement in response to movements of the corresponding phalanges of the operator's fingers. The mechanical prehensor is particularly useful in hostile or hazardous environments.

Abstract: Apparatus for controlling a manipulator employs a control device, first to third detectors, a producing device and a driving device. The first detector detects an operating force/torque generated by the control device and the second detector detects a deflecting amount of the control device from a reference position. The third detector detects an end force applied on an end portion of the manipulator and reaction signals are generated by the producing device. The reaction signal corresponds to a function of the deflecting amount and the end force. A force/torque corresponding to the difference between output signals from the first detector and the producing device are generated by the driving device and applied on the control device.

Abstract: Remote control of a micromanipulator employs laterally inextensible metal bellows, connected by flexible tubing of constant intermal diameter, in both the micromanipulator and the remote controller. Variations in the length of one bellows is communicated to the other bellows by variations in hydraulic volume, as opposed to variations in hydraulic pressure.

Abstract: A robot for surgical operation which comprises arm structure mounted at its one end of a vertical support and extending in a predetermined direction.The robot comprises a drive mechanism mounted on the other end of the arm structure and adapted to extend substantially horizontally further in said predetermined direction. A head or trepan is mounted at the extended end of and driven by said drive mechanism. Light transmissive fiber or the like mounted on the trepan takes an image of the patient and a controller process the image through video data processing for driving the arm structure, thereby controlling the position and tilt of the trepan with respect to the patient.

Abstract: A device for the automatic cleaning, testing, and sorting of discoidal, flat substrates (9, 9', . . . ) for example magnetic memory plates, having three support mandrels (12, 13, 23) for the substrates (9, 9', . . . ) to be treated, three magazines (6, 7, 8) to deposit the treated and the untreated substrates (9, 9', . . . ), and having a transporting device fixed to a machine frame (2) or a machine support with several transferring arms (14, 15, 16) which can be moved on several levels and which are equipped with gripping devices (20, 21, 22) is provided with a motor-driven first support mandrel (23) rotating round its longitudinal axis (r) and with a nozzle (25, 26) disposed directly adjacent to said support mandrel in order to apply a cleaning liquid onto the substrate (9, 9', . . . ) which is firmly held by the first support mandrel.

Abstract: In a two-arm type manipulator, it is very rare that two arms develop trouble simultaneously due to malfunction of motors and/or cables. In view of the above fact, motors for actuating manipulator joint mechanisms and cables connected between the motors and the manipulator frame are removably mounted on the shoulder section of the frame of the manipulator. Further, the first arm is so arranged as to be accessible to the second shoulder section or the second arm is so arranged as to be accessible to the first shoulder section. Therefore, it is possible to allow an access of one manipulator arm to the other disabled manipulator elements (motors and/or cables) for removal and replacement of the disabled elements with new elements without aid of another manipulator, in particular, where the manipulator is equipped in atomic facilities which refuse access, thus saving equipment investment.

Abstract: A force feeling type master/slave manipulator comprises a detector for detecting a positional difference between master and slave machines, an actuator provided on the slave side and actuated so that the slave follows up the master on the basis of the above positional difference the manipulator, and a pressure sensor for detecting a pressure in a hydraulic cylinder in which an output signal of the pressure sensor is divided by any one of the shifting speed of a slave working machie, manipulating or operating speed of a master control lever, displacement in a spool of a flow control servo valve, speed difference between the master control lever and slave working machine and positional difference between the master control lever and slave working machine. The divided value signal is used to drive a torque actuator provided in a joint part of the control lever.

Abstract: A robotic system in which robot devices are assembled from an inventory of elements responsive to a work request. The robotic devices include robots incorporating two-dimensional, linear motors movable along a stationary platen and coupled to various power sources through flexible, extendible, umbilical cords. The robot devices are selectively connectible with manipulators for holding parts to be assembled and/or for performing operations on such parts and/or members to which such parts are mounted. The devices are automatically assembled by selecting elements capable of performing the tasks necessary to complete the work request as well as selecting those elements which result in optimization of the assembly time and avoid collisions and cord tangling in moving along the paths traversed by the robot devices during their assembly.

Abstract: A master controller for a mechanically dissimilar bilateral slave servo-manipulator is disclosed. The master controller includes a plurality of drive trains comprising a plurality of sheave arrangements and cables for controlling upper and lower degrees of master movement. The cables and sheaves of the master controller are arranged to effect kinematic duplication of the slave servo-manipulator, despite mechanical differences therebetween. A method for kinematically matching a master controller to a slave servo-manipulator is also disclosed.

Abstract: Transfer mechanism to pick up an object such as a wafer used in the manufacture of semiconductor chips from one location, lift the object, transfer the same laterally, lower it and later deposit the same in another location. A horizontal feedscrew mounted in a stationary base controls horizontal reciprocation of a transverse housing. A vertical feedscrew mounted in the transverse housing controls vertical reciprocation of a second housing. Supported by the second housing are one or more lifts. Each lift has guide rods fixed relative to the second housing and a stop on its lower end. Parallel and adjacent the guide rods is a reciprocating rod carrying a gripper on its lower end. At the end of the vertical movement of the second housing the reciprocating rod moves the gripper away from the stop so that a wafer may rest on the guide rods. As the second housing moves up, the gripper clamps the wafer against the stop. Motors drive the feedscrews to lift the wafer, move it transversely and lower it.

Abstract: In this manipulator system, a small arm is coupled with an arm portion of a large arm excepting the tip, and the large arm and the small arm are independently controlled to operate. For coupling the small arm with the arm portion of the large arm, a capturing mechanism located at the tip of the large arm is actuated to be coupled with a capturing mechanism of the small arm. Another capturing mechanism of the small arm is moved to a capturing mechanism located on the arm portion of the large arm to be mechanically and electrically coupled therewith. When this coupling has been completed, the coupling between the capturing mechanism located on the tip of the large arm and the capturing mechanism of the small arm is released. As a result, the small arm can be branch-connected to the large arm, and expansion of the work range and complex work become possible.

Abstract: In a controlling apparatus of a manipulator equipped with a master arm and a slave arm, a processing device is provided for effecting scale conversion calculation of a calculation result representing the position data of the master arm for expansion or reduction, and for outputting the result of this calculation to the slave arm.

Abstract: Individual components (12) in a tube (14) are successively removed and then riented for pickup by first positioning the tube, whose ends are opened, in a horizontal orientation such that the components in the tube are upside down. Thereafter, a component is at least partially expelled from one end of the tube by directing a stream of gas (e.g., air) into the other end of the tube. The component partially expelled from the tube is then withdrawn from the tube to locate the component between a pair of jaws (124) capable of rotation about an arc of 180.degree.. The jaws then engage the component and thereafter rotate it 180.degree. before positioning the component right side up.

Abstract: An adaptive compliance system wherein the movement of an orientation stat is controlled in combination with its interaction with an assembly robot to vary the stiffness between the two structures.

Abstract: An applying robot which is disclosed herein comprises a movable arm having an applying gun and reciprocatingly movable at least between a work carry-in position and an applying position; and a work transporting hanger member mounted on the movable arm for engagement with and disengagement from a work in the individual positions.

Abstract: A method and arrangement for enhancing the ability of robots to perform precision assembly and machining employing adaptive clamping surfaces attached to the robot end effector in locations providing high mechanical advantage against working forces, and adaptive clamping foundations that become immobilized at the desired work location to form a local work foundation.

Abstract: A robotic work positioning system includes programmed, powered robot, and a non-powered arm which is locatable at various positions in three dimensional space by means of the powered robot. A mating interconnection is provided on the non-powered arm whereby the non-powered arm may be accurately engaged and positioned by the powered robot for holding a part or workpiece at an accurately predetermined location. Together with the powered robot, the non-powered arm facilitates the accurate assembly of component parts. One or more non-powered arms can be used to generate three dimensional tooling which can be altered robotically.

Abstract: A method and apparatus are disclosed for the automated loading of parts wherein multiple gantry robots are utilized to pick up automotive parts from movable transfer beds and placed into predetermined positions in containers which are serially indexed through the work envelopes of the robots until the containers are full. In the disclosed embodiment, the method and system are utilized for racking automotive parts after they exit a sheet metal stamping machine. Preferably, empty containers are automatically delivered to a container queue such as by an automatic guided vehicle system (AGVS) at an unloading station adjacent the robots. Thereafter each AGV is moved to a loading station to receive and retain thereon containers loaded with parts by the gantry robots.

Abstract: A plate member locating-and-feeding system comprises a locating system for locating a plate member fed to a locating station, a position sensor for detecting the position of the plate member located by the locating system, a suction feeding system for holding the locating plate member under a suction force and feeding it to a working station, a working robot provided at the working station for performing a predetermined process and a controller which stores regular working position data, and corrects the regular working position data on the basis of difference between the position data represented by the output signal of the position sensor and the regular working position data, and controls the working robot to perform the predetermined process according to the corrected working position data.

Abstract: A manipulator device is described in which a pair of holding members mounted on extensible arms, are rotatable through 360.degree. about an axis parallel to the plane in which they lie and perpendicular to the axis of the arms, and in which the arms are actuated by motor means interconnected together in such a way as to link the holding members for simultaneous displacement in a symmetrical manner.

Abstract: A remote manipulator for radiation cells and the like. This device is an all electric manipulator for hazardous environments to follow the basic movements of the operator but to provide features to provide extended use of the manipulator beyond the capabilities of the operator when necessary or desired. Identical arm units are removably positioned on opposite sides of a torso to make up the slave unit. Joints in the arms are enclosed in rotable boots. By being identical, the arms may be attached to either side of the torso as well as necessitating fewer replacement parts. The motion of each of the arms is sufficient such that essentially any position of one arm relative to the other arm can be achieved. Many components are interchangeable. Electrically controlled pan/tilt heads mounted on the torso support video cameras to permit remote viewing.

Abstract: A vehicle body assembling line includes a door installing station where vehicle side doors are installed on the body. In the installing station, there is an installing robot which is planned to operate in a predetermined sequence to install the doors on the vehicle body. For supplying appropriate doors to the installing robot from the door storing sections, a door pick up mechanism is provided to pick up an appropriate door from the storing section and a door transferring carriage is provided to receive the door from the pick up mechanism and transfer to the robot. The arrangement can afford an effective door installing operation.

Abstract: A method and apparatus is disclosed for setting up fixed and robotic systems by using a robot programmed by design data for a part of structure to simulate a master of same. Envisioned primarily for use in auto body fabrication processes, the invention is generally useable with smaller parts and assemblies. It is considered vitally useful for programmable assembly of bodies or other larger objects where a variety of styles or other considerations virtually preclude effective master parts. The invention sequentially creates, point by point, a master in space, using programmable placement of master surfaces, target points, or cameras capable of evaluating location of assembly robots and other items, generally from target points thereon.

Abstract: Apparatus for confirming the clamping conditions of a clamping device which is used to clamp workpieces of different sizes. Signals corresponding to the kind of workpiece being clamped are derived from the flow rate of pressurized fluid used to drive the actuator of the clamping device. These signals are used to confirm the clamping conditions and also the kind, and the presence or absence, of the workpiece.

Abstract: A welding robot is provided with a first joint member in addition to a welding gun. A work holder provided with a second joint member adapted to be connected with the first joint member and a clamp mechanism for gripping a workpiece is positioned in a predetermined waiting position. The welding robot accomplishes welding on a workpiece transferred to a first station and when the welding is completed, the welding robot approaches the work holder in the waiting position to connect the first and second joint members with each other. Then the robot returns to the first station carrying the work holder and permits the clamp mechanism of the work holder to grip the workpiece at the first station. Thereafter, the robot moves to a second station to transfer the workpiece from the first station to the second station. Then, the clamp mechanism releases the workpiece and the robot moves away from the second station to the waiting position with the workpiece left at the second station.

Abstract: A robotic system includes a series of cassettes holding blank centrally apertured disks which are ejected in seriatim from each cassette and a plug inserted into the disk central aperture by manipulation of a robotic arm at that cassette position. Each disk is transported by the robotic arm and inserted into a series of disk-holding apertures in a carrier panel and, after processing of multiple disks in the panel, the processed disks are removed from the carrier panel by the robotic arm to a second cassette position where the plugs are removed from the processed disk and the plugs conveyed by a pair of robotic arms or by the robotic arm acting in conjunction with an auxiliary robotic arm for reinsertion into other blank disks. Sensors are provided for accurately positioning the robotic arm with respect to the position of the carrier panel to be loaded.

Abstract: A system for carrying out a cooperative control operation for a plurality of automated devices connected together in which the individual operations of the automated device can be controlled individually in accordance with a program. In the control method in this system, the controlling of various automated devices is practiced by inputting a program described in a language which has a unified system, and translating this program in accordance with the combination of the automated devices.

Abstract: A conveying apparatus for an industrial robot in which a first arcuate rail is fixed to a ceiling and extends parallel to a turning locus of a robot arm suspended form a ceiling surface. A second linear rail is attached to the first rail and is rotatable therearound while maintaining an orientation normal to the first rail. A gripper mounted on a forward end portion of the robot arm is suspended by a balancer from the second rail, or alternatively by a first link having one end rotatably fixed to the ceiling and connected at its other end to one end of a second link with the gripper suspended by a wire from a balancer mounted on the other end of the second link. With this arrangement, not only is the vertical load due to objects conveyed by the robot reduced, but the horizontal load due to the same is also reduced, even in a horizontal conveying operation.

Abstract: A tracking robot apparatus has a robot for performing a predetermined operation, a movable device for moving an object of interest, a signal input device for designating operations of the robot and the movable device, an operation device for calculating an operation instruction value of the movable device in response to an input signal from the signal input device, a controller for driving the movable device in accordance with the calculated operation instruction value, an operation device for calculating a position/posture instruction value to keep relative position and posture of the robot and the movable device unchanged upon operation of the movable device, and a controller for driving a robot in accordance with the calculated position/posture instruction value. The movable device is operated in response to the signal from the signal input device, and at the same time the robot is operated such that the relative position and posture of the robot and the movable device are kept unchanged.

Abstract: A robot control apparatus including a first coordinate transformation unit for transforming an output from a setting unit for setting moving positions of a robot into information in a predetermined general coordinate system. A selector changes the destinations of output information from the first coordinate transformation unit dependent on the type of robot being controlled. A second coordinate transformation unit is provided having a plurality of transformation sections for transforming outputs in the general coordinate system from the first cooridnate transformation unit into information in a coordinate system inherent to the particular robot. The output from the first coordinate transformation unit is applied to one of the transformation sections which is selected by the selector. Robot drive signals are produced in response to output information from the second coordinate transformation unit.

Abstract: Apparatus constructed such that it may control various other equipment for the performance of various work tasks, even other equipment yet to be designed for work tasks yet to be designed. The improvement in the apparatus feature a call-back control procedure which is activatable from device intelligence to ensure that a specific robotic device can be "called-back", i.e. reactivated, to perform some specific action without the necessity of there being a code entry in the sequence intelligence of the central computer system enabling the specific action. The apparatus comprises a central computer control means comprising (1) a dictionary storage means for tagging and storing command-specific parameters for a specific work tasks and that specific robot module to which each of the parameters belongs and (2) sequencing means to schedule said work-tasks for a plurality of said modules. The module also can be activated for the task without use of the sequencing means, e.g.

Abstract: A control device provided between a master device having a given articulation configuration and a given degree of freedom and a slave manipulator having a given articulation configuration and a given degree of freedom, for causing faithful operation of the slave manipulator according to operation command signals from the master device, comprising: a first position coordinate converter for converting signals of position information concerning articulations of the master device into signals of position information concerning a hand of the master device in a common operating space coordinate system; a selector for selecting specific signals from the output signals of said first position coordinate converter; a second position coordinate converter for converting the signals supplied by said selector into signals of position information concerning the articulations of the slave manipulator; a first controller for giving drive force signals to actuators for the slave manipulator according to the differences between

Abstract: A robot-laser system having a minimum number of mirrors for reflecting a laser beam from a fixed laser beam source to a desired location wherein the mirrors are mounted within the hollow, servo-controlled parts of the robot to move therewith. Only a single mirror is mounted within its associated controlled part to reflect the laser beam as it travels between adjacent controlled parts. The robot has a number of degrees of freedom constituted by two orthogonally related linear movements along intersecting longitudinal axes and two orthogonally related rotary joints having intersecting pivotal axes. Preferably, two of the mirrors are mounted so that the laser beam strikes and is reflected from both points of axes intersection within two of the controlled parts. In one of the disclosed embodiments a mirror mounted in the base of the robot reflects the laser beam from the source to the other mirrors.

Abstract: A robot balancer (2) and a method for controlling the balancer is disclosed which has a step or a force sensor (10) mounted on the tip of the arm (3) of the balancer (2), a step or an operational means (21) for calculating the velocity of the balancer from the force given by the force sensor, and a step or a control means (15) for controlling a velocity of the balancer (2) in response to a signal from the force sensor.

Abstract: An apparatus is disclosed for carrying out repair, maintenance or testing of apparatus, components and the like in hot cells, more particularly hot cells of reprocessing plants for spent nuclear fuels. The position of damage zones is detected and ascertained with the use of coordinates. Replacement parts and tools are moved into the maintenance and work position in dependence upon the coordinate data, and the repair of maintenance work is automatically carried out under computer control, with remote operation and remote monitoring. For carrying out the work, computer-controlled handling machines and manipulators are used which are adapted to travel in controllable manner in the hot cell. The monitoring and detecting, using coordinates, of damage zones and defects may be carried out with the use of cameras and/or leak detectors.

Abstract: A plurality of pivoted robots each having both a welding gun and a transferring member for transferring a part are arranged so that the swinging locus of each pivoted robot intersects with that of at least one of the other robots. A working station is provided at the intersection of the swinging loci and the pivoted robots accomplish welding on the corresponding part at the working station and transfer it to the next station.

Abstract: A method of mounting parts to both sides of a main body characterized by moving a carriage at a predetermined speed along a specified path of transport with the main body placed on the carriage; moving a pair of movable tables in synchronism with the carriage in the same direction as the movement thereof, the movable tables being disposed at opposite sides of the transport path and each carrying at least one robot and an assembling device; causing the movable tables to support the main body during the synchronized movement; setting a part held by the robot in a specified position on the main body; attaching the part to the main body by the assembling device; and thereafter delivering the main body from the movable tables onto the carriage. Since the carriage is moved during the assembly of parts, this method assures the assembly line of a high-speed operation.

Abstract: Apparatus constructed such that it may control various other equipment for the performance of various work tasks, even other equipment yet to be designed for work tasks yet to be designed. The apparatus comprises a central computer control means comprising (1) a dictionary storage means for tagging and storing command-specific parameters for a specific work tasks and that specific robot module to which each of the parameters belongs and (2) sequencing means to schedule said work-tasks for a plurality of said modules. The module also can be activated for the task without use of the sequencing means, e.g. by having the module request one of its own dictionary entries.

Abstract: A self-configuring robotic system and method are disclosed. The system employs a computer having a central processing unit and an operating system containing at least a nucleus, a sequence reprogrammer and task support services. A robotic device and at least one defined task performing device, which may be another robotic device, are used in the system. Each device has a corresponding module that is electrically connected to the device and provides all of the intelligence for the particular device. Each module also provides a control block flag and a starting offset for the computer. The modules are electrically connected to the computer through a plurality of physically separable electrical connections so that all of the intelligence for the devices is on the device side of the associated physically separable electrical connections.

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: A robot control data processing apparatus comprises a robot control data dividing processor for dividing robot control data adapted for monitoring and controlling robots into a plurality of operation elements and storing the robot control data in units each forming an operation element, and a robot control data editing processor for selectively combining and editing one or more of the plurality of the divisional operation elements. The robot control data is prepared by teaching the robots in operation and/or programming a robot oriented language.

Abstract: A dimensional measurement system comprises a plurality of operating arms simultaneously controlled and monitored by a computer system wherein each of the arms includes a support structure for a measurement end and includes orthoganally displaceable members enabling three dimensions of orthoganal movement of the measurement end. The displaceable members preferably comprise a first carriage slidably engaged with a support beam, a sliding beam slidably secured to the first carriage, a second carriage secured to the sliding beam, and a second sliding beam slidably secured to the second carriage, wherein the support for the measurement end is on the end of the second sliding beam. The beams preferably include racks engaged by motor driven gears to provide controlled displacement of the displaceable members. The computer system preferably simultaneously controls movement of the arms as well as delivery of workpieces to the arms.

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.