Ford Motor Company Limited

Bernard Huang

Veljko Milenkovic

Nathaniel L Field

David James Chesney

Robert C Petrof

John W Grant

A linear motor control system and method to increase apparent motor stiffness by providing linear motor resistance to perturbations caused by external forces exerted on a slide mass and a base mass. Primary and secondary sensors detect the accelerations of the slide mass and the base mass relative to ground and generate acceleration signals corresponding thereto. A position detector senses the position of the slide mass relative to the base mass and generates a position signal corresponding thereto. A signal processor processes the first and second acceleration signals and the position signal to determine deviations in the position, velocity and acceleration of the slide mass relative to the base mass from selected values caused by the external forces, and to generate a motor control signal to provide linear motor resistance against such deviations.

Linear motor control system and method

A method and system for correcting a programmed robot manipulator path to compensate for variability of the location of a succession of workpieces includes the steps of sensing and measuring path offsets between the idealized workpiece location and the actual location of the workpiece at a plurality of waypoints, converting the measured offsets into translations and rotations of the workpiece by multiplying a matrix comprised of the offset measurements by a previously prepared conversion matrix, correcting the coordinates of waypoints within the preprogrammed path by applying the translations and rotations to such coordinates, transforming the corrected preprogrammed path coordinates into machine control coordinates, and providing a controller for the robot manipulator with such machine control coordinates.

Method and system for correcting a robot path

A method to avoid excessive rotational speeds, of the axes of a robot wrist, that result in the vicinity of a singularity in the path defined by consecutive points along which a tool held by a three-axis wrist mechanism of the robot moves. The speeds of the first and third axes are reduced within the allowable range of rotational speed for these axes, generally defined by the robot manufacturer, while maintaining constant the rotation about the intermediate or second joint. The rotational speed about each of these axes is determined as the tool moves between successive points on the path. Then, if necessary, the rotation of the second joint is decreased while maintaining constant the speeds about the first and third axes. Finally, the tool is maintained on the path by rotating the position of the tool without altering the reduced speeds of rotation about the axes.

Method to avoid singularity in a robot mechanism

A tunable powertrain mount for use in an automobile has a shear disc suspension coupled between a frame rail and a cross member supporting the powertrain. The shear disc suspension has two elastomer discs interleaved between three support plates. The shear disc suspension is tunable as a function, at each deformation stage, of load, displacement, stiffness and frequency, and as a function of area, support mass, shear modules of the elastomer and maximum shear strain.

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Ann Arbor, MI, United States of America

Bernard Huang