Force controlling system
First Claim
Patent Images
1. A force generating apparatus for applying a force to an object by receiving a force information signal, comprising:
- a base member;
an elastic member fixed to said base member and producing a reactive force when it is displaced;
a movable member, fixed to said elastic member, for applying said force corresponding to said force information signal to said object;
detecting means, provided on said elastic member, for detecting the displacement thereof, so that said detecting means generates a displacement signal corresponding to the displacement;
driving means for driving said movable member, comprising a linear motor having a stator side fixed to said base member and a movable side fixed to said movable member; and
control means, connected to said detecting means and to said driving means for controlling said driving means by said force information signal to move said movable member along a displacement direction, thereby applying a force to said object, and for controlling said driving means by said displacement signal to move said movable member along said displacement direction, thereby counteracting said reactive force of said elastic member, wherein said reactive force is counteracted and said movable member applies only a force corresponding to said force information signal to said object.
0 Assignments
0 Petitions
Accused Products
Abstract
In a force controlling system, a movable member fixed to an elastic member applies a force to an object in correspondence with a force reference signal. At this time, an additional force is applied via a driver to the movable member by the positive feedback of the displacement of the elastic member to the driver, so that the reactive force due to the displacement of the elastic member is counteracted by the additional force. As a result, the movable memer applies only a force in correspondence to the force reference signal to the object.
157 Citations
92 Claims
-
1. A force generating apparatus for applying a force to an object by receiving a force information signal, comprising:
-
a base member; an elastic member fixed to said base member and producing a reactive force when it is displaced; a movable member, fixed to said elastic member, for applying said force corresponding to said force information signal to said object; detecting means, provided on said elastic member, for detecting the displacement thereof, so that said detecting means generates a displacement signal corresponding to the displacement; driving means for driving said movable member, comprising a linear motor having a stator side fixed to said base member and a movable side fixed to said movable member; and control means, connected to said detecting means and to said driving means for controlling said driving means by said force information signal to move said movable member along a displacement direction, thereby applying a force to said object, and for controlling said driving means by said displacement signal to move said movable member along said displacement direction, thereby counteracting said reactive force of said elastic member, wherein said reactive force is counteracted and said movable member applies only a force corresponding to said force information signal to said object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
-
-
11. An object processing system having a movable mechanism and receiving a predetermined force information signal, comprising:
-
a force generating apparatus mounted on said movable mechanism, said force generating apparatus comprising; a base member; an elastic member attached to said base member and producing a reactive force when it is displaced; a movable member, attached to said elastic member, applying a force corresponding to said force information signal to an object; first detecting means, provided on said elastic member, for detecting the displacement of said elastic member, so that said detecting means generates a displacement signal corresponding to the displacement; and first driving means for driving said movable member, comprising a linear motor having a stator side fixed to said base member and a movable side fixed to said movable member; first control means, connected to said first detecting means and to said first driving means, for controlling said first driving means by said force information signal to move said movable member along a displacement direction, thereby applying a force to said object, and for controlling said driving means by said displacement signal to move said movable member along said displacement direction, counteracting said reactive force of said elastic member and applying through said movable member substantially only the force corresponding to said force information signal to said object; means for applying said force information signal to said first control means; second driving means for driving said movable mechanism; and second control means, connected to said second driving means, for controlling said second driving means. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
-
-
27. A robot system including means for providing a force information signal, comprising:
-
an arm; a force generating apparatus mounted on the end of said arm, said force generating apparatus comprising; a base member; an elastic member attached to said base member; a movable member, attached to said elastic member, applying a force corresponding to said force information signal to an object; first detecting means provided in said elastic member, for detecting the displacement of said elastic member, so that said first detecting means generates a displacement signal corresponding to the displacement; and first driving means for driving said movable member, comprising a linear motor having a stator side fixed to said base member and a movable side fixed to said movable member; first control means, connected to said detecting means and to said first driving means, for controlling said first driving means by said force information signal, to move said movable member along a displacement direction thereby applying a force to said object, and for controlling said driving means by said displacement signal to move said movable member along said displacement direction, counteracting said reactive force counteracted and applying through said movable member substantially only a force corresponding to said force information signal to said object; second driving means for driving said arm; and second control means, connected to said second driving means, for controlling said second driving means. - View Dependent Claims (28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44)
-
-
45. A gripping apparatus for gripping an object, said gripping apparatus comprising:
-
two fingers for applying force to said object by gripping said object between said two fingers, at least one of said two fingers including a base member, elastic member, movable member, detecting means and driving means, said elastic member being attached to said base member and producing a reactive force when it is displaced, said movable member being attached to said elastic member and applying a force corresponding to said force information signal to said object, and said detecting means being provided in said elastic member, and for detecting the displacement of said elastic member, so that said detecting means generates a displacement signal corresponding to the displacement; and
said driving means for driving said movable member, comprising a linear motor having a stator side fixed to said base member and a movable side fixed to said movable member; andcontrol means, connected to said detecting means and to said driving means, for controlling said driving means by said force information signal to move said movable member along a displacement direction thereby applying a force to said object, and for controlling said driving means by said displacement signal to move said movable member along said displacement direction, counteracting said reactive force and applying through said movable member substantially only the force corresponding to said force information signal to said object. - View Dependent Claims (46, 47, 48, 49, 50, 51, 52, 53, 54)
-
-
55. An object processing system, comprising:
-
means for providing a force information signal; a movable mechanism having a gripping apparatus, including two fingers, mounted thereon, at least one of the two fingers including; a base member; an elastic member attached to said base member and producing a reactive force when it is displaced; a movable member, attached to said elastic member, applying a force corresponding to said force information signal to an object; first detecting means, provided in said elastic member, for detecting the displacement of said elastic member so that said first detecting means generates a displacement signal corresponding to the displacement; and first driving means for driving said movable member, comprising a linear motor having a stator side fixed to said base member and a movable side fixed to said movable member; first control means, connected to said first detecting means and to said first driving means, for controlling said first driving means by said force information signal to move said movable member along a displacement direction, thereby applying a force to said object, and for controlling said driving means by said displacement signal to move said movable member along said displacement direction, counteracting said reactive force and applying through said movable member substantially only force corresponding to said force information signal to said object; second driving means for driving said movable mechanism; and second control means, connected to said second driving means, for controlling said second driving means. - View Dependent Claims (56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73)
-
-
74. A robot system comprising:
- means for providing a force information signal;
an arm having a gripping apparatus including two fingers, mounted thereon, at least one of the two fingers including;a base member; an elastic member attached to said base member and producing a reactive force when it is displaced; a movable member, attached to said elastic member, applying a force corresponding to an externally supplied force information signal to an object; first detecting means, provided in said elastic member, for detecting the displacement of said elastic member, so that said first detecting means generates a displacement signal corresponding to the displacement; and first driving means for driving said movable member, comprising a linear motor having a stator side fixed to said base member and a movable side fixed to said movable member; first control means, connected to said first detecting means and to said first driving means, for controlling said first driving means by said force information signal to move said movable member along a displacement direction, thereby applying a force to said object, and for controlling said driving means by said displacement signal to move said movable member along said displacement direction, counteracting said reactive force and applying through said movable member substantially only said force corresponding to said force information signal to said object; second driving means for driving said movable mechanism; and second control means, connected to said second driving means, for controlling said second driving means. - View Dependent Claims (75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92)
- means for providing a force information signal;
Specification