Manual programming of heavy robots - uses circuit to amplify signals generated by hand movements of operator

摘要

The manual operation of robots is readily done with light equipment but with heavy equipment the physical effort required by the manual operator is excessive and leads to unsatisfactory movements due to the high inertia. By attaching a programming device (16) with light operating characteristics to the robot arm (1) the signals generated by the operators motion are converted by an electronic circuit (18) to signals proportional to the displacement created by the operator. These signals are applied to the inputs (11) of a comparator (4) which has signals proportional to the actual displacement of the arm at its other input and the comparator output is used to regulate the hydraulic or electric power used to operate the arm. The movements of the arm are stored in memory (3) as it follows the teaching sequence.