| 摘要 |
<p>The invention pertains to robot arms. It is directed at eliminating the movement of robot arm segments caused by external forces such as inadvertent bumping, movement caused by motor slippage and movement caused to one arm segment by the movement of the other arm segments. The invention includes a robot arm (10) comprising a multi-axis, open-loop system of coupled structural members (16, 28, 32, 36) wherein each structural member (16, 28, 32, 36) is pivotably coupled to one another to form a member of joints (26, 30, 34, 38) wherein position calibration is provided by way of position sensors (124, 152, 156) disposed at each joint (26, 30, 34, 38), and control means (12, 24, 22) for manipulating each joint (26, 30, 34, 36) in a predetermined manner and for monitoring the output of each position sensor (124, 152, 156), the control means (12, 14, 22) first causing all structural members (16, 28, 32, 36) to move with respect to one another so that each position sensor (124, 152, 156) outputs a home signal, the control means (24, 12, 22) then manipulating each structural member (16, 28, 32, 36) in a predetermined sequence until each structural member (16, 28, 32, 36) is caused to be within a predetermined distance from its home position. </p> |
