Method and apparatus for generating position or path control programs using force feedback

The method of generating a control program for a machine having a positionable member, a drive system for moving said positionable member under control of the program, a force sensor operative to generate signals which are functions of the forces exerted between the positionable member and an external instrumentality, and position sensors for generating signals which are a function of the position of the positionable member, comprising:

• manually imposing forces on the positionable member to urge it toward motion in a desired manner;
• generating control signals for the drive system which are functions of the outputs of said force sensor and the position sensors, which control motion of the positionable member to decrease the manually imposed forces;
• and recording the outputs of the position sensors.

The method of generating a control program for a manipulator having a base, a work gripper, a train of serially connected arms having one end of the train connected to the base and the other end to the gripper, drive means for controlling the positions of the arm to control the ultimate position of the gripper, a force sensor operative to generate signals proportional to forces exerted between the gripper and an external instrumentality, and sensors for generating signals which are a function of the instantaneous position of the gripper, comprising:

• manually grasping the gripper and urging it toward motion along a desired path;
• generating control signals for the drive system which are functions of the outputs of the force sensor and the instantaneous position sensors which control motion of the positional member to decrease the manually imposed forces;
• and recording the outputs of the position sensors.

The method of generating a control program for a machine having a positionable member, a drive system including a position servo for moving said positionable member, under control of the program, a force sensor operative to generate signals which are functions of the forces exerted between the positionable member and an external instrumentality, and sensors including position transducers for generating signals which are a function of the positional condition of the positionable member, comprising:

• manually imposing forces on the positionable member to urge it toward motion in a desired manner;
• generating control signals for the drive system which are functions of the outputs of said force sensor and the positional conditional sensors, which control motion of the positional member to decrease the manually imposed forces;
• and recording the output of the positional condition sensors.