Robot hand programming system - uses frame with guide handle mounted on hand via force sensors

摘要

A frame (12) with a handle is mounted round the land of the robot. Forces sensors (13) are used to support the frame on the hand (13). The handle is used to move the hand over the initial path during programming. The forces exerted on the handle are transmitted via the sensors to the hand. The signals generated in the sensors are stored in a programme and are used to control the motors which manipulate the hand about three axes.