摘要:
The disclosure relates to a multiaxial force-torque sensor having a transducer structure, with strain gauges placed in defined areas to measure the strain, from which the forces and torques are calculated, and where the transducer structure can include (e.g., consist of) two concentric rings connected with spokes. The transducer structure can be a planar mechanical structure, and all strain gauges can be applied to the same surface of the transducer structure to measure non-radial strain components.
摘要:
The invention relates to a joint having a male unit and a female unit. The external surface of the male unit is of complementary shape to the internal surface of the female unit. The units cooperate and have shapes allowing rotational movement in at least one degree of freedom of the male unit within the female unit. The female unit has two socket parts. According to the invention biasing means is provided for biasing each of the socket parts towards the male unit.
摘要:
A robot having a force sensor and a tool fixture for operating on a workpiece that may have a complex surface contour is programmed by an operator first teaching the robot by a suitable technique such as lead through teaching a few gross points of the contour. These points, known as guiding points, are used to generate a program to be followed by the robot under the control of the robot controller and using force control during which the robot finalizes the guiding points and teaches one or more points on the contour intermediate adjacent guiding points. The controller or other computing device uses the points so taught to generate the path the robot tool fixture will follow when the tool is to operate on the workpiece.
摘要:
A device and a method for tool center point calibration of an industrial robot. The device is intended to calibrate an industrial robot with respect to a tool mounted on the robot. The device includes a camera designed to take a plurality of images of at least part of the robot tool for a plurality of different tool orientations, an image-processing unit designed to determine the positions of the robot tool in the orientations based on the images, a calculation module adapted to calculate the position of the center point of the robot tool, based on the determined positions, and a control module adapted to calculate the corrective movements of the robot.
摘要:
An apparatus, a method and a control system for controlling an industrial robot with at least one axis of rotation and/or translation. The robot includes at least one actuator or motor at each of the axes for driving a movement of an arm of the robot and at least one sensor at each of the rotatable shafts. A dither-signal generator for generation of a periodic signal is used to provide a varying dither signal to a servo of the actuator. Automatic adaption of the dither signal is provided. A computer program for carrying out the method and a graphical user interface.
摘要:
An industrial robot that uses a simulated force vector to allow a work piece held by the robot end effector to be mated with a work piece whose location and orientation is not precisely known to the robot. When the end effector makes contact with the location and orientation in which the other work piece is held the robot provides a velocity command to minimize the force of the contact and also provides a search pattern in all directions and orientations to cause the end effector to bring the work piece it is holding in contact with the other work piece. The search pattern and the velocity command are continued until the two work pieces mate.
摘要:
A sensor element adaptable for measurement of a physical parameter formed of a crystalline material and emitting luminescent spectra upon excitation by light spectra and the influence of said physical parameter. A first layer emitting luminescent spectra is formed of a semiconductor material containing dopant providing shallow energy levels and recombination centers with a concentration between 10.sup.15 to 10.sup.18 cm.sup.-3, and sandwiched between second and third layers of semiconductor material having low absorption for light excitation of the first layer, and the respective lattice constants of the second and third layers being substantially coincidental with the lattice constant of the first layer. The sensor element is formed of GaAs for the substrate and AlGaAs for the semiconductor layers, with appropriate variation in the concentration Al, Ga, and As for the various layers. Generally, the energy band gap of the layers sandwiching the luminescent emitting layer are higher than that of the emitting layer. In a modified embodiment, GaAs is used as the luminescence emitting layer with covering semiconductor layers of AlGaAs, with appropriate variation in the concentration of Al, Ga and As. In a further modification an additional semiconductor layer of AlGaAs is sandwiched between the active semiconductor layer and a non-active semiconductor layer to reduce or eliminate a shift in the wavelength emission of the sensor element.
摘要:
The invention relates to a measuring device for measuring physical and/or chemical quantities, comprising a measuring transducer and an evaluating electronic unit interconnected by at least one light-conducting fiber, said evaluating electronic unit comprising one or more light sources for transmitting light via said fiber/fibers to at least one sensor element, forming a part of said transducer, said evaluating electronic unit also comprising one or more light detectors for detecting light emitted from said sensor element(s). The invention is characterized in that said at least one sensor element possesses a non-linear relationship between the incident light intensity illuminating the sensor element and the intensity of the light emitted from the sensor element, that said light source/light sources are arranged to emit light having at least two, non-identical light intensities, and that at the same time said detector/detectors are arranged to measure the light coming from the sensor element.
摘要:
The invention relates to an optical measuring device for measuring physical magnitudes such as position, speed, acceleration, force, pressure, elongation, temperature, etc., comprising at least one optical fiber for conducting light between an electronic unit and a transducer forming an optical modulator which is directly or indirectly influenced by the quantity being measured and, in dependence thereon, modulates the light emitted to the transducer. The transducer contains at least one optical filter having spectrally varying absorbing and/or transmitting and/or reflecting characteristics within the spectra of the emitted light. The light filter generates one or more stabilizing signals for the fiber optic and optoelectronics, and possibly one or more measurement signals within one or more wavelength ranges.
摘要:
The disclosure relates to a multiaxial force-torque sensor having a transducer structure, with strain gauges placed in defined areas to measure the strain, from which the forces and torques are calculated, and where the transducer structure can include (e.g., consist of) two concentric rings connected with spokes. The transducer structure can be a planar mechanical structure, and all strain gauges can be applied to the same surface of the transducer structure to measure non-radial strain components.