公开(公告)号：EP0399032A4

公开(公告)日：1991-10-23

申请号：EP90900709

申请日：1989-11-29

申请人： SCHONLAU, WILLIAM J.

发明人： SCHONLAU, WILLIAM J.

IPC分类号： B25J9/08 ,  B25J9/16 ,  B25J9/18 ,  G05B19/18 ,  G05B19/19 ,  G05B19/414 ,  G05B19/42

CPC分类号： G05B19/4141 ,  B25J9/08 ,  B25J9/161 ,  G05B2219/33161 ,  G05B2219/33254 ,  G05B2219/39335 ,  G05B2219/42129 ,  G05B2219/49292

摘要： A modular robotic system (10) is provided with one or more robotic arm sets (14) constructed from modular components and controlled by a central processor (12) to displace an end effector or tool (20) through a desired movement or movements as a function of time. Each arm set comprises a custom assembled combination of passive and active members of selected sizes and shapes, wherein each active member includes a drive motor (64) for rotating a driven member (36) with one degree of mechanical freedom. The active members of each arm set are connected to the central processor (12) via a common communications cable (22) for receiving position commands in the form of end effector position signals. The active members include individual on-board microprocessors (16) for translating each end effector position signal to obtain individualized displacements of the active members which, in combination, result in the desired end effector displacement.