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System for evaluating the capability of a work-performing robot to reproduce a programmed series of motions

  • US 4,305,028 A
  • Filed: 04/04/1980
  • Issued: 12/08/1981
  • Est. Priority Date: 04/04/1980
  • Status: Expired due to Term
First Claim
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1. A system for evaluating the performance capability of a relatively massive, work-performing, multi-link, multi-degree of freedom robot with respect to a series of programmable motions, said robot having different velocity limitations for each of said links, comprising:

  • a relatively lightweight hand manipulatable robot simulator having multiple links connected to permit relative motion therebetween to define plural degrees of freedom, said simulator links and degrees of freedom simulating those of said work-performing robot,velocity transducing means associated with said simulator links to provide actual velocity signals correlated to the actual velocity of said simulator links when said simulator is hand manipulated through a series of programmable motions,means for establishing velocity limitation reference signals correlated to velocity limitations of said work-performing robot links,alarm condition sensing means responsive to said actual velocity signals and said velocity limitation reference signals for providing different alarm signals when alarm conditions exist for different links due to the velocity of said simulator links exceeding said velocity limitations of said work-performing robot links, andalarm indicating means responsive to said alarm signals for providing a humanly perceptible alarm indication substantially concurrently with the occurrence of an alarm condition.

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