1076799 PB84-221159 Servo for industrial robot with force control

Robotics & Compute~lntegrated Manufacturmg, Vol.~ N~ 1, pp. 83-87, 1985

0736-584~85 $3~0 + ~00 Copyrig~ © 1985 PergamonPre~ Ltd.

Pfi~ed ~ the U.~A. All figh~~ e d .

• Information on D e m a n d

TECHNICAL REPORTS SECTION 1075488 DE84011805 Microprocessor Enhanced Real Time Manu~ ConW~ ef an Indu~ tri~ Robot

The repoRs hged ~ t~s s e ~ n ~re pa~ of the ~rger s ~ t ~ o G t h ~ art Mbliography produced by Information on Demand espeoally for Robog~ and Compute~Integrated Manufactudn~

Youn~ ~A.; P h i l l ~ R.H., Hanford En~nee~ng Development Lab., Rich~n~ WA. Sponsor: Illin~s U~v., C~cago.: Depart-

a I n d ~ u M ~epo~s are avMMMe M the prices ~ c a ~ d . • The entire bibl~graphy of NTIS repoffs rdating to the field of robotics and computer-integrmed manufa~ufing is avaflabM for $95.00. • Cu~om ~ M ~ g r a p ~ e s on any t o # c from over 250 dmabases are avMMMe from Informm~n on Demand for a p p r o f i m ~ e ~ $20O.O0.

ment of Energy, W a s h ~ o ~ DC. Repo~ No.: HEDL-SA3014FP; CONF-840612~1.14 Sep 83.12pp. Robots con~rence. Deffoit, MI, USA, 4 Jun 1984. Por~ons a ~ ~ e ~ e ~ m~rofichc produ~ Languages: EnOch. Document Type: Con~rence procce~ngs. CounWy of Pubhcation: Un~ed S~Ws. Remote handling u~ng c o m m e r ~ robotic de~ces can be a viab~ approach for m a ~ p ~ g hazardous m~cri~s. HoweveL these operations can r e s e t ~ unfo~een ~tuations that req~re interruption ef a robot program, followed by manu~ a~u~ment to the p ~ h and subsequent resumption of program c o n t r , . A mi~ocomputer and p r e s t o n joystick c o , r o l l e r interfaced with the contr~ u~t of the robot provide an e f f e ~ e means of a c h ~ ing t~s from a remote ~cation. The paper will de~fibe ong~ng c ~ b o r a t i v e research b~ween Westinghouse Hanford Company and the Roboti~ and Automation Labor~ory of ~ e U~versity of I ~ n ~ s ~ C~¢ago for ac~e~ng such c o ~ r ~ ~om a remove ~ c ~ fion. T~s p~per ~ u ~ e s the apFroach b~vg u ~ d ~ ac~eve re~ time c o n ~ from a remote location and a mi~ocompu~r based sy~em that has been con~ructed for a Cin~nnati MHacron T3 hydraul~ robot (ERA ~ t i o n 0~031386).

Use the mo~ con~ e ~ e m m~hod to ~ace an crder cr obtMn more ~formafion. Mail to: Information on Deman~ PO Box 9550, B e r k d e ~ CA 94709, US. CaMe INFODEMAND; Phone (41~644-450~ 1076983 PB84-873637 Robot W e l d ~ 1970-AuguM, 1984 (Citat~ns ~ o m the E n # n e e ~ ing Index Data Ba~) Na~onM Tech~cal Information Ser~c~ Springfid~ VA. (Rept. for 1970-Aug 84). Aug. 84. 96pp. Supersedes PB8~870501. Languages: English, Document Type: Bibhography. C o u n t y of PuM~m~n: Unffed S t a ~ This bibl~graphy contMns dtafions concer~ng the defign, m a n u ~ u ~ , and ~dugfiM a p ~ a t i o n s of Mdu~fiM roboB and teleoperMors for wddMg operm~ns. A ~ w a l i n g and spot wdding operations arc the processes emphasized. Performance evMm atio~s of w d d ~ g robots present~ operating M many ~du~riM enfironments are d~cussed reMtive to such factors as defign change recommendation~ ~mure peculiaritie~ quality contrd, and econom~s. (T~s upda~d b~l~graphy contMns 150 Ot~ tion~ 56 of w~ch a~e new entries to the previous editionO

1075413 DE84011464 Ba~c Research on Inteli~ent Robotic Systems Operating ~ Hosti~ Envkonment~ New Devdopments ~ ORNL

Barhe~ ~; Babcoc~ ~M.; Hame~ W.R.; O b ~ E.M.; Sa~d~ G.N., Oak ~idge National Lab., TN. Sponsor: D e p a ~ m e ~ of Energy, W ~ n ~ o n , DC. Repo~ No.: C O N F - 8 4 0 4 1 ~ Apr. 84.24pp. T o ~ c ~ meeting on roboti~ and ~ m ~ e h a n ~ g in hostile e n v ~ o n m e ~ G a ~ n b u r ~ TN, USA. 23 Apt 1984. Languages: EnOch. Docume~ Type: Conference p r o c e e d ~ . C o u n t y of P u ~ a t i o n : U ~ d ~ e s . Roboti~ and A r t i f i ~ I n d i g e n c e research carried out w i ~ the C e ~ e r for En~ncefing Sy~ems Advanced R e h a s h (CESAR) ~ p ~ e d . Acti~t~s focus on the d e v e ~ p m e ~ and d e m o n ~ t i o n cf a comp~hen~ve m e ~ o d ~ o ~ c ~ ~amework ~ r intell~e~ mac~nes operating in un~ructured hogtie en~row me~s. Areas currently b~ng addre~ed ~ u d e m~hematic~ m o d ~ g of robot dynamics, ~ i m e c o n ~ , wo~d m o d ~ mac~ne p e r c e ~ n and ~r~egy ~ a n ~ n g (ERA ~ t i o n 0~02998~.

1076799 PB84-221159 Servo for Indu~dM R o b ~ with Force ContrM (FinM rept. on phase 1) Hil~ ZW.; Swor~ A.Z, Microbot. In~, MounMM View, CA. Sponsor: Nation~ Sdence Foundation, Was~n~on, DC. D~. of Indu~fiM Soence and Technolo#cM Innovation: Repoff No.: NSF/EC~82073. Mar 82. 55pp. Language: En#~h. C o u n t y of PuM~afion: U ~ t e d Stmes. Limkations of commerdM~ avMMbM ~dugriM ~obcts are addressed, ~ d u d ~ g t h o r ~aMlity to sense or contr~ the forces thin devdop during encounters b~ween the m a ~ p u ~ d and ~ e fixed o ~ e ~ s during assemMy and fitting operation~ The devdopmem of a low~o~ robot ~ c h n d o g y w~ch ~ d u d e s t h e ~ adaptive contr~ capa~lities ~ de~ribed. The approach is based upon a fim#e contrM sy~em wh~h rel~s heafi~ upon so,ware and mass produced componentm It is p r e ~ e d that the lower amidpMed robot co~ ~ 1 5 ~ 0 0 ) and reduced reliance on j ~ fixtures and e~ernM sensors wou~ reduce robot work ~mion costs to $3 to $4 per houL

1 ~ PB84-~71 ~uCy ~ Robot ~ o n Sensors

T~h~ques U ~ g Acou~Optic Im~e

Kow~ ~ ~; ~ c k a ~ ~A.; Le~ ~H. Deft Labs., ~ ,

Eaa Syra-

~ s ~ N ~ Spo~o~ N ~ n ~ S d e n ~ Foundation, W ~ n ~ o ~ DC. Rcpoff No.: NS~EC~82068, 20 Mar 82. 55pp. 83