Manipulator simulation method and apparatus

Details Manipulator simulation method and apparatus Manipulator simulation method and apparatus

1996-03-20

1999-02-02

Teska, Kevin J.

Boots, shoes, and leggings

395500, 364578, G06F 1716, B25J 910

Patent

active

058676317

ABSTRACT:
An apparatus, and method of use therefor, adapted to evaluate angles of rotation of joints for coupling arm-to-arm to each other on the basis of information representative of position and orientation of a tip of a manipulator having six or less arms, which are sequentially coupled with each other, so as to implement the position and the orientation of the tip of the manipulator. A matrix equation is evaluated beforehand in accordance with a mathematical expression processing. Parameters, which represent a figure of the manipulator, are inputted into the resultant matrix equation. Further, the information representative of position and orientation of the tip of the manipulator is entered to evaluate the angles of rotation of joints in accordance with a numerical resolution.

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