FR2638232B1 - TOUCH SENSOR - Google Patents
TOUCH SENSORInfo
- Publication number
- FR2638232B1 FR2638232B1 FR8913689A FR8913689A FR2638232B1 FR 2638232 B1 FR2638232 B1 FR 2638232B1 FR 8913689 A FR8913689 A FR 8913689A FR 8913689 A FR8913689 A FR 8913689A FR 2638232 B1 FR2638232 B1 FR 2638232B1
- Authority
- FR
- France
- Prior art keywords
- touch sensor
- touch
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/42—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
- G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
- G01L5/166—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using photoelectric means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
- G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Robotics (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19883836003 DE3836003A1 (en) | 1988-10-21 | 1988-10-21 | Method and device for carrying out a force-controlled movement |
Publications (2)
Publication Number | Publication Date |
---|---|
FR2638232A1 FR2638232A1 (en) | 1990-04-27 |
FR2638232B1 true FR2638232B1 (en) | 1994-09-30 |
Family
ID=6365681
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR8913689A Expired - Fee Related FR2638232B1 (en) | 1988-10-21 | 1989-10-19 | TOUCH SENSOR |
Country Status (2)
Country | Link |
---|---|
DE (1) | DE3836003A1 (en) |
FR (1) | FR2638232B1 (en) |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR940003204B1 (en) * | 1990-02-27 | 1994-04-16 | 가부시끼가이샤 도시바 | Control robot |
DE4126032C2 (en) * | 1991-08-06 | 1994-04-21 | Wolfgang Ziegler | Machining device that can be driven by a motor, in particular a grinding or milling device suitable for a robot with a sensory force and / or torque detection |
DE19642016C1 (en) * | 1996-10-11 | 1998-05-28 | Siemens Ag | Method for mechanically moving an object on a level to a target position |
DE19943318A1 (en) * | 1999-09-10 | 2001-03-22 | Charalambos Tassakos | Trajectory path point position detection method e.g. for programming industrial robot, uses manual movement of robot tool along trajectory with force/moment sensor signals converted into movement control signals |
DE19962974A1 (en) | 1999-12-24 | 2001-06-28 | Bielomatik Leuze & Co | Device and method for heating element welding |
DE10137955B4 (en) * | 2001-08-07 | 2007-02-22 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Method for motion commanding a service robot |
DE10305755A1 (en) * | 2003-02-11 | 2004-09-16 | Bartsch Gmbh | Two-dimensional workpiece grabbing technique involves using aligned gripper to grab workpiece freely, in which torque in rotation and translatory movement of gripper and grabbed workpiece are zero |
WO2007096322A2 (en) * | 2006-02-23 | 2007-08-30 | Abb Ab | A system for controlling the position and orientation of an object in dependence on received forces and torques from a user |
EP2561850B1 (en) * | 2011-08-22 | 2014-07-02 | Hartmut J. Schneider | Device for sexual stimulation |
CN106903670B (en) * | 2017-03-10 | 2019-07-16 | 南京航空航天大学 | Teaching apparatus, robot control device and control method |
US11169036B2 (en) * | 2017-11-22 | 2021-11-09 | Koc Universitesi | Monolithic flexure based, triaxial dynamometer using photointerrupters |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6128835A (en) * | 1984-07-20 | 1986-02-08 | Nippon Telegr & Teleph Corp <Ntt> | Multiple component forces detector |
US4704909A (en) * | 1985-07-22 | 1987-11-10 | Grahn Allen R | Multicomponent force-torque sensor |
JPH0676931B2 (en) * | 1986-01-13 | 1994-09-28 | 工業技術院長 | Tactile sensor |
-
1988
- 1988-10-21 DE DE19883836003 patent/DE3836003A1/en active Granted
-
1989
- 1989-10-19 FR FR8913689A patent/FR2638232B1/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
FR2638232A1 (en) | 1990-04-27 |
DE3836003C2 (en) | 1992-04-16 |
DE3836003A1 (en) | 1990-04-26 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
ST | Notification of lapse |