发明名称 |
Load compensation for robotic applications |
摘要 |
Disclosed is a method and system for compensating for the load a part places on a part positioner system that positions the part for work operations by a robot. The part positioner system rotates a part holding assembly about the axis of rotation of a shoulder drive. The part holding assembly may have a column that extends perpendicular to the shoulder center line. A counter weight system is incorporated into the column that includes a counter weight pack that is moved along the length of the column. The shoulder drive drives the part and part holding assembly load in order to measure a torque applied to the shoulder drive. A load offset may be calculated based on the applied torque. The counter weight pack may then be moved to a position on the column calculated to balance the load of the part and part holding assembly. Alternatively, the counter weight may be moved empirically in a feedback loop in response to repeated torque measurements of the shoulder drive until an optimum torque is achieved at the shoulder drive. |
申请公布号 |
US8099184(B2) |
申请公布日期 |
2012.01.17 |
申请号 |
US20090422756 |
申请日期 |
2009.04.13 |
申请人 |
SCHOENING JOHN;GUYMON LANCE F.;RIMROCK AUTOMATION, INC. |
发明人 |
SCHOENING JOHN;GUYMON LANCE F. |
分类号 |
G06F19/00;B23Q3/18;B64F5/00;G05B19/04;G05B19/418 |
主分类号 |
G06F19/00 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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