Programme-controlled manipulators

BPERFORMING OPERATIONS TRANSPORTING B25Hand tools B25JMANIPULATORS CHAMBERS PROVIDED WITH MANIPULATION DEVICES

B25J9/00Programme-controlled manipulators

B25J9/0003Home robots B25J9/0006Exoskeletons B25J9/0009Constructional details B25J9/0012making use of synthetic construction materials B25J9/0015Flexure members B25J9/0018Bases fixed on ceiling B25J9/0021All motors in base B25J9/0024Wrist motors at rear part of the upper arm B25J9/0027Means for extending the operation range B25J9/003having parallel kinematics B25J9/0033with kinematics chains having a prismatic joint at the base B25J9/0036with kinematics chains of the type prismatic-rotary-rotary B25J9/0039with kinematics chains of the type prismatic-spherical-spherical B25J9/0042with kinematics chains of the type prismatic-universal-universal B25J9/0045with kinematics chains having a rotary joint at the base B25J9/0048with kinematics chains of the type rotary-rotary-rotary B25J9/0051with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical B25J9/0054with kinematics chains having a spherical joint at the base B25J9/0057with kinematics chains of the type spherical-prismatic-spherical B25J9/006with kinematics chains of the type spherical-prismatic-universal B25J9/0063with kinematics chains having an universal joint at the base B25J9/0066with kinematics chains of the type universal-prismatic-spherical B25J9/0069with kinematics chains of the type universal-prismatic-universal B25J9/0072of the hybrid type B25J9/0075Truss B25J9/0078actuated by cables B25J9/0081with master teach-in means B25J9/0084comprising a plurality of manipulators B25J9/0087Dual arms B25J9/009being mechanically linked with one another at their distal ends B25J9/0093co-operating with conveyor means B25J9/0096co-operating with a working support B25J9/02characterised by movement of the arms B25J9/023Cartesian coordinate type B25J9/026Gantry-type B25J9/04by rotating at least one arm, excluding the head movement itself B25J9/041Cylindrical coordinate type B25J9/042comprising an articulated arm B25J9/043double SCARAR arms B25J9/044with forearm providing vertical linear movement B25J9/045Polar coordinate type B25J9/046Revolute coordinate type B25J9/047the pivoting axis of the first arm being offset to the vertical axis B25J9/048Pendulum type B25J9/06characterised by multi-articulated arms B25J9/065Snake robots B25J9/08characterised by modular constructions B25J9/10characterised by positioning means for manipulator elements B25J9/1005comprising adjusting means B25J9/101using limit-switches, -stops B25J9/1015using additional B25J9/102Gears specially adapted therefor B25J9/1025Harmonic drives B25J9/103with backlash-preventing means B25J9/1035Pinion and fixed rack drivers B25J9/104with cables, chains or ribbons B25J9/1045comprising tensioning means B25J9/105using eccentric means B25J9/1055by gravity B25J9/106with articulated links B25J9/1065with parallelograms B25J9/107of the froglegs type B25J9/1075with muscles or tendons B25J9/108Bearings specially adapted therefor B25J9/1085positioning by means of shape-memory materials B25J9/109comprising mechanical programming means B25J9/1095chemically actuated B25J9/12electric B25J9/123Linear actuators B25J9/126Rotary actuators B25J9/14fluid B25J9/142comprising inflatable bodies B25J9/144Linear actuators B25J9/146Rotary actuators B25J9/148of the oscillating vane-type B25J9/16Programme controls B25J9/1602characterised by the control system, structure, architecture B25J9/1605Simulation of manipulator lay-out, design, modelling of manipulator B25J9/1607Calculation of inertia, jacobian matrixes and inverses B25J9/161Hardware B25J9/1612characterised by the hand, wrist, grip control B25J9/1615characterised by special kind of manipulator B25J9/1617Cellular, reconfigurable manipulator B25J9/162Mobile manipulator, movable base with manipulator arm mounted on it B25J9/1623Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base B25J9/1625Truss-manipulator for snake-like motion B25J9/1628characterised by the control loop B25J9/163learning, adaptive, model based, rule based expert control B25J9/1633compliant, force, torque control B25J9/1635flexible-arm control B25J9/1638compensation for arm bending/inertia, pay load weight/inertia B25J9/1641compensation for backlash, friction, compliance, elasticity in the joints B25J9/1643redundant control B25J9/1646variable structure system, sliding mode control B25J9/1648non-linear control combined or not with linear control B25J9/1651acceleration, rate control B25J9/1653parameters identification, estimation, stiffness, accuracy, error analysis B25J9/1656characterised by programming, planning systems for manipulators B25J9/1658characterised by programming language B25J9/1661characterised by task planning, object-oriented languages B25J9/1664characterised by motion, path, trajectory planning B25J9/1666Avoiding collision or forbidden zones B25J9/1669characterised by special application B25J9/1671characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems B25J9/1674characterised by safety, monitoring, diagnostic B25J9/1676Avoiding collision or forbidden zones B25J9/1679characterised by the tasks executed B25J9/1682Dual arm manipulator; Coordination of several manipulators B25J9/1684Tracking a line or surface by means of sensors B25J9/1687Assembly, peg and hole, palletising, straight line, weaving pattern movement B25J9/1689Teleoperation B25J9/1692Calibration of manipulator B25J9/1694characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion B25J9/1697Vision controlled systems B25J9/20fluidic