Self-teaching robot feedback system

• US 4,458,321 A
• Filed: 08/19/1981
• Issued: 07/03/1984
• Est. Priority Date: 08/19/1981
• Status: Expired due to Fees

• Current Assignee: Charles Stark Draper Laboratory Incorporated
• Original Assignee: Charles Stark Draper Laboratory Incorporated
• Inventors: Whitney, Daniel E., Seltzer, Donald S.
• Primary Examiner(s): Shaw, Gareth D.
• Assistant Examiner(s): Malamud, Ronni S.
• Application Number:
  US06/294,349
• Time in Patent Office: 1,049 Days
• Field of Search: 364/513, 364/157, 364/167, 364/170, 364/176, 364/175, 364/174, 364/148, 364/149, 364/150, 364/151, 364/152, 364/191-193, 364/165, 318/568, 318/561, 414/1
• US Class Current: 700/258
• CPC Class Codes: G05B 19/4163 Adaptive control of feed or cutting velocity without NC B23Q15/12
• CPC Class Codes: G05B 19/42 Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
• CPC Class Codes: G05B 2219/34295 System, logic analyser, simulation
• CPC Class Codes: G05B 2219/40087 Align hand on workpiece to pick up workpiece, peg and hole
• CPC Class Codes: G05B 2219/42162 Model reference adaptive control MRAC, correction fictive-real error, position
• CPC Class Codes: G05B 2219/45083 Manipulators, robot

Abstract

A self-teaching RCC device robot feedback system including: a robot mechanism; an RCC device carried by the robot mechanism; a robot driver unit for directing motion of the RCC device in an environment; means for determining the displacement of an RCC device with respect to the robot; and an adaptive learning system, responsive to the means for determining displacement, for detecting a pattern of displacements of the RCC device relative to its environment and generating commands to the robot driver unit to direct motion of the RCC device.

Claims

1. A self-teaching RCC device robot feedback system comprising:

a robot mechanism;

an RCC device carried by said robot mechanism;

a robot drive unit connected to said robot mechanism for directing motion of said RCC device in an environment;

means mounted to at least one of said robot mechanisms and said RCC device for determining the displacement of said RCC device with respect to said robot and generating a displacement signal indicative thereof; and

an adaptive learning system including a data base containing data for controlling said robot drive unit and updating means responsive to said means for determining displacement, for determining a pattern of displacements of said RCC device relative to the environment arising from repeated executions of the same robot task and generating updated signals to said data base to update the data therein, said data base being responsive to said updated signals for generating updated command signals to said robot driver unit to direct motion of said RCC device.

2. The system of claim 1 in which said adaptive learning system includes a Kalman filter circuit for receiving said displacement signal and providing said updated signals to said robot driver unit.